Implement MAVLink Inspector (WIP)

qgroundcontrol.qrc

@@ -42,6 +42,7 @@
         <file alias="LogReplaySettings.qml">src/ui/preferences/LogReplaySettings.qml</file>
         <file alias="MainRootWindow.qml">src/ui/MainRootWindow.qml</file>
         <file alias="MavlinkConsolePage.qml">src/AnalyzeView/MavlinkConsolePage.qml</file>
+        <file alias="MAVLinkInspectorPage.qml">src/AnalyzeView/MAVLinkInspectorPage.qml</file>
         <file alias="MavlinkSettings.qml">src/ui/preferences/MavlinkSettings.qml</file>
         <file alias="MicrohardSettings.qml">src/Microhard/MicrohardSettings.qml</file>
         <file alias="MissionSettingsEditor.qml">src/PlanView/MissionSettingsEditor.qml</file>

src/AnalyzeView/AnalyzePage.qml

@@ -23,7 +23,7 @@ Item {
     property alias  pageComponent:      pageLoader.sourceComponent
     property alias  pageName:           pageNameLabel.text
     property alias  pageDescription:    pageDescriptionLabel.text
-    property real   availableWidth:     width - pageLoader.x
+    property real   availableWidth:     width  - pageLoader.x
     property real   availableHeight:    height - pageLoader.y
     property real   _margins:           ScreenTools.defaultFontPixelHeight * 0.5
 

src/AnalyzeView/AnalyzeView.qml

@@ -26,8 +26,6 @@ Rectangle {
     color:  qgcPal.window
     z:      QGroundControl.zOrderTopMost
 
-    QGCPalette { id: qgcPal; colorGroupEnabled: true }
-
     ExclusiveGroup { id: setupButtonGroup }
 
     readonly property real  _defaultTextHeight:     ScreenTools.defaultFontPixelHeight
@@ -106,9 +104,14 @@ Rectangle {
                     }
                     ListElement {
                         buttonImage:        "/qmlimages/MavlinkConsoleIcon"
-                        buttonText:         qsTr("Mavlink Console")
+                        buttonText:         qsTr("MAVLink Console")
                         pageSource:         "MavlinkConsolePage.qml"
                     }
+                    ListElement {
+                        buttonImage:        "/qmlimages/MavlinkConsoleIcon"
+                        buttonText:         qsTr("MAVLink Inspector")
+                        pageSource:         "MAVLinkInspectorPage.qml"
+                    }
                 }
 
                 Component.onCompleted: itemAt(0).checked = true

src/AnalyzeView/LogDownloadController.h

@@ -40,7 +40,7 @@ public:
         ObjectRole = Qt::UserRole + 1
     };
 
-    QGCLogModel(QObject *parent = 0);
+    QGCLogModel(QObject *parent = nullptr);
 
     Q_PROPERTY(int count READ count NOTIFY countChanged)
     Q_INVOKABLE QGCLogEntry* get(int index);

src/AnalyzeView/MAVLinkInspectorController.cc

@@ -11,6 +11,282 @@
 #include "QGCApplication.h"
 #include "MultiVehicleManager.h"
 
+QGC_LOGGING_CATEGORY(MAVLinkInspectorLog, "MAVLinkInspectorLog")
+
+//-----------------------------------------------------------------------------
+QGCMAVLinkMessageField::QGCMAVLinkMessageField(QObject* parent, QString name, QString type)
+    : QObject(parent)
+    , _type(type)
+    , _name(name)
+{
+    qCDebug(MAVLinkInspectorLog) << "Field:" << name << type;
+}
+
+//-----------------------------------------------------------------------------
+QGCMAVLinkMessage::QGCMAVLinkMessage(QObject* parent, mavlink_message_t* message)
+    : QObject(parent)
+{
+    _message = *message;
+    _messageHz = QGC::groundTimeMilliseconds();
+    const mavlink_message_info_t* msgInfo = mavlink_get_message_info(message);
+    if (!msgInfo) {
+        qWarning() << QStringLiteral("QGCMAVLinkMessage NULL msgInfo msgid(%1)").arg(message->msgid);
+        return;
+    }
+    _name = QString(msgInfo->name);
+    qCDebug(MAVLinkInspectorLog) << "New Message:" << _name;
+    for (unsigned int i = 0; i < msgInfo->num_fields; ++i) {
+        QString type = QString("?");
+        switch (msgInfo->fields[i].type) {
+            case MAVLINK_TYPE_CHAR:     type = QString("char");     break;
+            case MAVLINK_TYPE_UINT8_T:  type = QString("uint8_t");  break;
+            case MAVLINK_TYPE_INT8_T:   type = QString("int8_t");   break;
+            case MAVLINK_TYPE_UINT16_T: type = QString("uint16_t"); break;
+            case MAVLINK_TYPE_INT16_T:  type = QString("int16_t");  break;
+            case MAVLINK_TYPE_UINT32_T: type = QString("uint32_t"); break;
+            case MAVLINK_TYPE_INT32_T:  type = QString("int32_t");  break;
+            case MAVLINK_TYPE_FLOAT:    type = QString("float");    break;
+            case MAVLINK_TYPE_DOUBLE:   type = QString("double");   break;
+            case MAVLINK_TYPE_UINT64_T: type = QString("uint64_t"); break;
+            case MAVLINK_TYPE_INT64_T:  type = QString("int64_t");  break;
+        }
+        QGCMAVLinkMessageField* f = new QGCMAVLinkMessageField(this, msgInfo->fields[i].name, type);
+        _fields.append(f);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCMAVLinkMessage::update(mavlink_message_t* message)
+{
+    _message = *message;
+    _count++;
+    _messageHz = QGC::groundTimeMilliseconds();
+    const mavlink_message_info_t* msgInfo = mavlink_get_message_info(message);
+    if (!msgInfo) {
+        qWarning() << QStringLiteral("QGCMAVLinkMessage::update NULL msgInfo msgid(%1)").arg(message->msgid);
+        return;
+    }
+    if(_fields.count() != static_cast<int>(msgInfo->num_fields)) {
+        qWarning() << QStringLiteral("QGCMAVLinkMessage::update msgInfo field count mismatch msgid(%1)").arg(message->msgid);
+        return;
+    }
+    uint8_t* m = reinterpret_cast<uint8_t*>(&message->payload64[0]);
+    for (unsigned int i = 0; i < msgInfo->num_fields; ++i) {
+        QGCMAVLinkMessageField* f = qobject_cast<QGCMAVLinkMessageField*>(_fields.get(static_cast<int>(i)));
+        if(f) {
+            switch (msgInfo->fields[i].type) {
+            case MAVLINK_TYPE_CHAR:
+                if (msgInfo->fields[i].array_length > 0) {
+                    char* str = reinterpret_cast<char*>(m+ msgInfo->fields[i].wire_offset);
+                    // Enforce null termination
+                    str[msgInfo->fields[i].array_length - 1] = '\0';
+                    QString v(str);
+                    f->updateValue(v);
+                } else {
+                    // Single char
+                    char b = *(reinterpret_cast<char*>(m + msgInfo->fields[i].wire_offset));
+                    QString v(b);
+                    f->updateValue(v);
+                }
+                break;
+            case MAVLINK_TYPE_UINT8_T:
+                if (msgInfo->fields[i].array_length > 0) {
+                    uint8_t* nums = m+msgInfo->fields[i].wire_offset;
+                    // Enforce null termination
+                    QString tmp("%1, ");
+                    QString string;
+                    for (unsigned int j = 0; j < msgInfo->fields[i].array_length; ++j) {
+                        string += tmp.arg(nums[j]);
+                    }
+                    f->updateValue(string);
+                } else {
+                    // Single value
+                    uint8_t u = *(m+msgInfo->fields[i].wire_offset);
+                    f->updateValue(QString::number(u));
+                }
+                break;
+            case MAVLINK_TYPE_INT8_T:
+                if (msgInfo->fields[i].array_length > 0) {
+                    int8_t* nums = reinterpret_cast<int8_t*>(m + msgInfo->fields[i].wire_offset);
+                    // Enforce null termination
+                    QString tmp("%1, ");
+                    QString string;
+                    for (unsigned int j = 0; j < msgInfo->fields[i].array_length; ++j) {
+                        string += tmp.arg(nums[j]);
+                    }
+                    f->updateValue(string);
+                } else {
+                    // Single value
+                    int8_t n = *(reinterpret_cast<int8_t*>(m+msgInfo->fields[i].wire_offset));
+                    f->updateValue(QString::number(n));
+                }
+                break;
+            case MAVLINK_TYPE_UINT16_T:
+                if (msgInfo->fields[i].array_length > 0) {
+                    uint16_t* nums = reinterpret_cast<uint16_t*>(m + msgInfo->fields[i].wire_offset);
+                    // Enforce null termination
+                    QString tmp("%1, ");
+                    QString string;
+                    for (unsigned int j = 0; j < msgInfo->fields[i].array_length; ++j) {
+                        string += tmp.arg(nums[j]);
+                    }
+                    f->updateValue(string);
+                } else {
+                    // Single value
+                    uint16_t n = *(reinterpret_cast<uint16_t*>(m + msgInfo->fields[i].wire_offset));
+                    f->updateValue(QString::number(n));
+                }
+                break;
+            case MAVLINK_TYPE_INT16_T:
+                if (msgInfo->fields[i].array_length > 0) {
+                    int16_t* nums = reinterpret_cast<int16_t*>(m + msgInfo->fields[i].wire_offset);
+                    // Enforce null termination
+                    QString tmp("%1, ");
+                    QString string;
+                    for (unsigned int j = 0; j < msgInfo->fields[i].array_length; ++j) {
+                        string += tmp.arg(nums[j]);
+                    }
+                    f->updateValue(string);
+                } else {
+                    // Single value
+                    int16_t n = *(reinterpret_cast<int16_t*>(m + msgInfo->fields[i].wire_offset));
+                    f->updateValue(QString::number(n));
+                }
+                break;
+            case MAVLINK_TYPE_UINT32_T:
+                if (msgInfo->fields[i].array_length > 0) {
+                    uint32_t* nums = reinterpret_cast<uint32_t*>(m + msgInfo->fields[i].wire_offset);
+                    // Enforce null termination
+                    QString tmp("%1, ");
+                    QString string;
+                    for (unsigned int j = 0; j < msgInfo->fields[i].array_length; ++j) {
+                        string += tmp.arg(nums[j]);
+                    }
+                    f->updateValue(string);
+                } else {
+                    // Single value
+                    uint32_t n = *(reinterpret_cast<uint32_t*>(m + msgInfo->fields[i].wire_offset));
+                    f->updateValue(QString::number(n));
+                }
+                break;
+            case MAVLINK_TYPE_INT32_T:
+                if (msgInfo->fields[i].array_length > 0) {
+                    int32_t* nums = reinterpret_cast<int32_t*>(m + msgInfo->fields[i].wire_offset);
+                    // Enforce null termination
+                    QString tmp("%1, ");
+                    QString string;
+                    for (unsigned int j = 0; j < msgInfo->fields[i].array_length; ++j) {
+                        string += tmp.arg(nums[j]);
+                    }
+                    f->updateValue(string);
+                } else {
+                    // Single value
+                    int32_t n = *(reinterpret_cast<int32_t*>(m + msgInfo->fields[i].wire_offset));
+                    f->updateValue(QString::number(n));
+                }
+                break;
+            case MAVLINK_TYPE_FLOAT:
+                if (msgInfo->fields[i].array_length > 0) {
+                    float* nums = reinterpret_cast<float*>(m + msgInfo->fields[i].wire_offset);
+                    // Enforce null termination
+                    QString tmp("%1, ");
+                    QString string;
+                    for (unsigned int j = 0; j < msgInfo->fields[i].array_length; ++j) {
+                       string += tmp.arg(static_cast<double>(nums[j]));
+                    }
+                    f->updateValue(string);
+                } else {
+                    // Single value
+                    float fv = *(reinterpret_cast<float*>(m + msgInfo->fields[i].wire_offset));
+                    f->updateValue(QString::number(static_cast<double>(fv)));
+                }
+                break;
+            case MAVLINK_TYPE_DOUBLE:
+                if (msgInfo->fields[i].array_length > 0) {
+                    double* nums = reinterpret_cast<double*>(m + msgInfo->fields[i].wire_offset);
+                    // Enforce null termination
+                    QString tmp("%1, ");
+                    QString string;
+                    for (unsigned int j = 0; j < msgInfo->fields[i].array_length; ++j) {
+                        string += tmp.arg(nums[j]);
+                    }
+                    f->updateValue(string);
+                } else {
+                    // Single value
+                    double d = *(reinterpret_cast<double*>(m + msgInfo->fields[i].wire_offset));
+                    f->updateValue(QString::number(d));
+                }
+                break;
+            case MAVLINK_TYPE_UINT64_T:
+                if (msgInfo->fields[i].array_length > 0) {
+                    uint64_t* nums = reinterpret_cast<uint64_t*>(m + msgInfo->fields[i].wire_offset);
+                    // Enforce null termination
+                    QString tmp("%1, ");
+                    QString string;
+                    for (unsigned int j = 0; j < msgInfo->fields[i].array_length; ++j) {
+                        string += tmp.arg(nums[j]);
+                    }
+                    f->updateValue(string);
+                } else {
+                    // Single value
+                    uint64_t n = *(reinterpret_cast<uint64_t*>(m + msgInfo->fields[i].wire_offset));
+                    f->updateValue(QString::number(n));
+                }
+                break;
+            case MAVLINK_TYPE_INT64_T:
+                if (msgInfo->fields[i].array_length > 0) {
+                    int64_t* nums = reinterpret_cast<int64_t*>(m + msgInfo->fields[i].wire_offset);
+                    // Enforce null termination
+                    QString tmp("%1, ");
+                    QString string;
+                    for (unsigned int j = 0; j < msgInfo->fields[i].array_length; ++j) {
+                        string += tmp.arg(nums[j]);
+                    }
+                    f->updateValue(string);
+                } else {
+                    // Single value
+                    int64_t n = *(reinterpret_cast<int64_t*>(m + msgInfo->fields[i].wire_offset));
+                    f->updateValue(QString::number(n));
+                }
+                break;
+            }
+        }
+    }
+    emit messageChanged();
+}
+
+//-----------------------------------------------------------------------------
+QGCMAVLinkVehicle::QGCMAVLinkVehicle(QObject* parent, quint8 id)
+    : QObject(parent)
+    , _id(id)
+{
+    qCDebug(MAVLinkInspectorLog) << "New Vehicle:" << id;
+}
+
+//-----------------------------------------------------------------------------
+QGCMAVLinkMessage*
+QGCMAVLinkVehicle::findMessage(uint32_t id)
+{
+    for(int i = 0; i < _messages.count(); i++) {
+        QGCMAVLinkMessage* m = qobject_cast<QGCMAVLinkMessage*>(_messages.get(i));
+        if(m) {
+            if(m->id() == id) {
+                return m;
+            }
+        }
+    }
+    return nullptr;
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCMAVLinkVehicle::append(QGCMAVLinkMessage* message)
+{
+    _messages.append(message);
+    emit messagesChanged();
+}
+
 //-----------------------------------------------------------------------------
 MAVLinkInspectorController::MAVLinkInspectorController()
 {
@@ -27,135 +303,77 @@ MAVLinkInspectorController::~MAVLinkInspectorController()
     _reset();
 }
 
+//-----------------------------------------------------------------------------
+QGCMAVLinkVehicle*
+MAVLinkInspectorController::_findVehicle(uint8_t id)
+{
+    for(int i = 0; i < _vehicles.count(); i++) {
+        QGCMAVLinkVehicle* v = qobject_cast<QGCMAVLinkVehicle*>(_vehicles.get(i));
+        if(v) {
+            if(v->id() == id) {
+                return v;
+            }
+        }
+    }
+    return nullptr;
+}
+
 //-----------------------------------------------------------------------------
 void
 MAVLinkInspectorController::_vehicleAdded(Vehicle* vehicle)
 {
-    _vehicleIDs.append(vehicle->id());
+    QGCMAVLinkVehicle* v = _findVehicle(static_cast<uint8_t>(vehicle->id()));
+    if(v) {
+        v->messages()->deleteListAndContents();
+        emit v->messagesChanged();
+    } else {
+        v = new QGCMAVLinkVehicle(this, static_cast<uint8_t>(vehicle->id()));
+        _vehicles.append(v);
+        _vehicleNames.append(QString(tr("Vehicle %1")).arg(vehicle->id()));
+    }
+    emit vehiclesChanged();
 }
 
 //-----------------------------------------------------------------------------
 void
 MAVLinkInspectorController::_vehicleRemoved(Vehicle* vehicle)
 {
-    int idx = _vehicleIDs.indexOf(vehicle->id());
-    if(idx >= 0) {
-        _vehicleIDs.removeAt(idx);
+    QGCMAVLinkVehicle* v = _findVehicle(static_cast<uint8_t>(vehicle->id()));
+    if(v) {
+        v->deleteLater();
+        _vehicles.removeOne(v);
+        QString vs = QString(tr("Vehicle %1")).arg(vehicle->id());
+        _vehicleNames.removeOne(vs);
+        emit vehiclesChanged();
     }
 }
 
 //-----------------------------------------------------------------------------
 void
-MAVLinkInspectorController::_receiveMessage(LinkInterface* link,mavlink_message_t message)
+MAVLinkInspectorController::_receiveMessage(LinkInterface* link, 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);
+    QGCMAVLinkMessage* m = nullptr;
+    QGCMAVLinkVehicle* v = _findVehicle(message.sysid);
+    if(!v) {
+        v = new QGCMAVLinkVehicle(this, message.sysid);
+        _vehicles.append(v);
+        _vehicleNames.append(QString(tr("Vehicle %1")).arg(message.sysid));
+        emit vehiclesChanged();
     } 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;
+        m = v->findMessage(message.msgid);
     }
-    receiveTime = 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;
+    if(!m) {
+        m = new QGCMAVLinkMessage(this, &message);
+        v->append(m);
     } 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);
+        m->update(&message);
     }
+
 }
 
 //-----------------------------------------------------------------------------
 void
 MAVLinkInspectorController::_reset()
 {
-    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, float>* >::iterator iteHz;
-    for(iteHz = _uasMessageHz.begin(); iteHz != _uasMessageHz.end(); ++iteHz) {
-        iteHz.value()->clear();
-        delete iteHz.value();
-        iteHz.value() = nullptr;
-    }
-    _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() = nullptr;
-    }
-    _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() = nullptr;
-    }
-    _uasLastMessageUpdate.clear();
 }

src/AnalyzeView/MAVLinkInspectorController.h

@@ -15,7 +15,90 @@
 #include <QObject>
 #include <QString>
 #include <QDebug>
+#include <QAbstractListModel>
 
+Q_DECLARE_LOGGING_CATEGORY(MAVLinkInspectorLog)
+
+//-----------------------------------------------------------------------------
+class QGCMAVLinkMessageField : public QObject {
+    Q_OBJECT
+    Q_PROPERTY(QString      name        READ name       CONSTANT)
+    Q_PROPERTY(QString      type        READ type       CONSTANT)
+    Q_PROPERTY(QString      value       READ value      NOTIFY valueChanged)
+
+public:
+    QGCMAVLinkMessageField(QObject* parent, QString name, QString type);
+
+    QString     name            () { return _name;  }
+    QString     type            () { return _type;  }
+    QString     value           () { return _value; }
+
+    void        updateValue     (QString newValue) { _value = newValue; emit valueChanged(); }
+
+signals:
+    void        valueChanged    ();
+
+private:
+    QString     _type;
+    QString     _name;
+    QString     _value;
+};
+
+//-----------------------------------------------------------------------------
+class QGCMAVLinkMessage : public QObject {
+    Q_OBJECT
+    Q_PROPERTY(quint32              id          READ id         CONSTANT)
+    Q_PROPERTY(QString              name        READ name       CONSTANT)
+    Q_PROPERTY(quint64              messageHz   READ messageHz  NOTIFY messageChanged)
+    Q_PROPERTY(quint64              count       READ count      NOTIFY messageChanged)
+    Q_PROPERTY(QmlObjectListModel*  fields      READ fields     CONSTANT)
+
+public:
+    QGCMAVLinkMessage(QObject* parent, mavlink_message_t* message);
+
+    quint32             id          () { return _message.msgid; }
+    QString             name        () { return _name;  }
+    quint64             messageHz   () { return _messageHz; }
+    quint64             count       () { return _count; }
+    QmlObjectListModel* fields      () { return &_fields; }
+
+    void                update      (mavlink_message_t* message);
+
+signals:
+    void messageChanged             ();
+
+private:
+    QmlObjectListModel  _fields;
+    QString             _name;
+    uint64_t            _messageHz  = 0;
+    uint64_t            _count      = 0;
+    mavlink_message_t   _message;   //-- List of QGCMAVLinkMessageField
+};
+
+//-----------------------------------------------------------------------------
+class QGCMAVLinkVehicle : public QObject {
+    Q_OBJECT
+    Q_PROPERTY(quint8               id          READ id         CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  messages    READ messages   NOTIFY messagesChanged)
+
+public:
+    QGCMAVLinkVehicle(QObject* parent, quint8 id);
+
+    quint8              id          () { return _id; }
+    QmlObjectListModel* messages    () { return &_messages; }
+
+    QGCMAVLinkMessage*  findMessage (uint32_t id);
+    void                append      (QGCMAVLinkMessage* message);
+
+signals:
+    void messagesChanged            ();
+
+private:
+    quint8              _id;
+    QmlObjectListModel  _messages;  //-- List of QGCMAVLinkMessage
+};
+
+//-----------------------------------------------------------------------------
 class MAVLinkInspectorController : public QObject
 {
     Q_OBJECT
@@ -23,20 +106,29 @@ public:
     MAVLinkInspectorController();
     ~MAVLinkInspectorController();
 
+    Q_PROPERTY(QStringList          vehicleNames    READ vehicleNames   NOTIFY vehiclesChanged)
+    Q_PROPERTY(QmlObjectListModel*  vehicles        READ vehicles       NOTIFY vehiclesChanged)
+
+    QmlObjectListModel*  vehicles       () { return &_vehicles; }
+    QStringList          vehicleNames   () { return _vehicleNames; }
+
+signals:
+    void vehiclesChanged                ();
+
 private slots:
-    void _receiveMessage        (LinkInterface* link, mavlink_message_t message);
-    void _vehicleAdded          (Vehicle* vehicle);
-    void _vehicleRemoved        (Vehicle* vehicle);
+    void _receiveMessage                (LinkInterface* link, mavlink_message_t message);
+    void _vehicleAdded                  (Vehicle* vehicle);
+    void _vehicleRemoved                (Vehicle* vehicle);
 
 private:
-    void _reset                 ();
+    void _reset                         ();
+
+    QGCMAVLinkVehicle*  _findVehicle    (uint8_t id);
 
 private:
     int         _selectedSystemID       = 0;                    ///< Currently selected system
     int         _selectedComponentID    = 0;                    ///< Currently selected component
-    QList<int>  _vehicleIDs;
-    QMap<int, mavlink_message_t*>       _uasMessageStorage;     ///< Stores the messages for every UAS
-    QMap<int, QMap<int, quint64>*>      _uasLastMessageUpdate;  ///< Stores the time of the last message for each message of each 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
+
+    QStringList         _vehicleNames;
+    QmlObjectListModel  _vehicles;  //-- List of QGCMAVLinkVehicle
 };

src/AnalyzeView/MAVLinkInspectorPage.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick                      2.11
+import QtQuick.Controls             2.4
+import QtQuick.Layouts              1.11
+import QtQuick.Dialogs              1.3
+
+import QGroundControl               1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Controllers   1.0
+import QGroundControl.ScreenTools   1.0
+
+Item {
+    anchors.fill:           parent
+    anchors.margins:        ScreenTools.defaultFontPixelWidth
+
+    readonly property real _butttonWidth: ScreenTools.defaultFontPixelWidth * 30
+
+    property int curVehicleIndex:   0
+    property var curVehicle:        controller.vehicles.count > 0 ? controller.vehicles.get(curVehicleIndex) : null
+    property int curMessageIndex:   0
+    property var curMessage:        curVehicle && curVehicle.messages.count ? curVehicle.messages.get(curMessageIndex) : null
+
+    MAVLinkInspectorController {
+        id: controller
+    }
+
+    DeadMouseArea {
+        anchors.fill: parent
+    }
+
+    //-- Header
+    ColumnLayout {
+        id:                     header
+        width:                  parent.width
+        spacing:                ScreenTools.defaultFontPixelHeight
+        QGCLabel {
+            text:               qsTr("Analyze real time MAVLink messages.")
+        }
+        RowLayout {
+            Layout.fillWidth:   true
+            spacing:            ScreenTools.defaultFontPixelWidth
+            QGCLabel {
+                text:           qsTr("Vehicle:")
+            }
+            QGCComboBox {
+                id:             vehicleSelector
+                model:          controller.vehicleNames
+                enabled:        controller.vehicles.count > 0
+                onActivated:    curVehicleIndex = index
+                Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 16
+            }
+        }
+        Item {
+            height:         ScreenTools.defaultFontPixelHeight
+            width:          1
+        }
+    }
+    //-- Messages
+    QGCFlickable {
+        id:                 buttonGrid
+        anchors.top:        header.bottom
+        anchors.bottom:     parent.bottom
+        anchors.left:       parent.left
+        width:              ScreenTools.defaultFontPixelWidth * 32
+        contentWidth:       buttonCol.width
+        contentHeight:      buttonCol.height
+        ColumnLayout {
+            id:             buttonCol
+            spacing:        ScreenTools.defaultFontPixelHeight * 0.25
+            Repeater {
+                model:      curVehicle ? curVehicle.messages : []
+                delegate:   QGCButton {
+                    text:   object.name
+                    onClicked: curMessageIndex = index
+                    Layout.minimumWidth: _butttonWidth
+                }
+            }
+        }
+    }
+    //-- Message Data
+    QGCFlickable {
+        id:                 messageGrid
+        anchors.top:        header.bottom
+        anchors.bottom:     parent.bottom
+        anchors.left:       buttonGrid.right
+        anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2
+        anchors.right:      parent.right
+        contentWidth:       messageCol.width
+        contentHeight:      messageCol.height
+        Column {
+            id:                 messageCol
+            spacing:            ScreenTools.defaultFontPixelHeight
+            GridLayout {
+                columns:        2
+                columnSpacing:  ScreenTools.defaultFontPixelWidth
+                rowSpacing:     ScreenTools.defaultFontPixelHeight * 0.25
+                QGCLabel {
+                    text:       qsTr("Message:")
+                    Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 20
+                }
+                QGCLabel {
+                    color:      qgcPal.buttonHighlight
+                    text:       curMessage ? curMessage.name : ""
+                }
+                QGCLabel {
+                    text:       qsTr("Count:")
+                }
+                QGCLabel {
+                    text:       curMessage ? curMessage.count : ""
+                }
+                QGCLabel {
+                    text:       qsTr("Frequency:")
+                }
+                QGCLabel {
+                    text:       curMessage ? curMessage.messageHz + 'Hz' : ""
+                }
+            }
+            GridLayout {
+                columns:        3
+                columnSpacing:  ScreenTools.defaultFontPixelWidth
+                rowSpacing:     ScreenTools.defaultFontPixelHeight * 0.25
+                Repeater {
+                    model:      curMessage ? curMessage.fields : []
+                    delegate:   QGCLabel {
+                        Layout.row:         index
+                        Layout.column:      0
+                        Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 20
+                        text:               object.name
+                    }
+                }
+                Repeater {
+                    model:      curMessage ? curMessage.fields : []
+                    delegate:   QGCLabel {
+                        Layout.row:         index
+                        Layout.column:      1
+                        Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 30
+                        Layout.maximumWidth: ScreenTools.defaultFontPixelWidth * 30
+                        wrapMode:           Text.WordWrap
+                        text:               object.value
+                    }
+                }
+                Repeater {
+                    model:      curMessage ? curMessage.fields : []
+                    delegate:   QGCLabel {
+                        Layout.row:         index
+                        Layout.column:      2
+                        text:               object.type
+                    }
+                }
+            }
+        }
+    }
+}

src/QGCApplication.cc

@@ -77,6 +77,7 @@
 #include "VideoSurface.h"
 #include "VideoReceiver.h"
 #include "LogDownloadController.h"
+#include "MAVLinkInspectorController.h"
 #include "ValuesWidgetController.h"
 #include "AppMessages.h"
 #include "SimulatedPosition.h"
@@ -452,6 +453,7 @@ void QGCApplication::_initCommon()
     qmlRegisterType<RCChannelMonitorController>     (kQGCControllers,                       1, 0, "RCChannelMonitorController");
     qmlRegisterType<JoystickConfigController>       (kQGCControllers,                       1, 0, "JoystickConfigController");
     qmlRegisterType<LogDownloadController>          (kQGCControllers,                       1, 0, "LogDownloadController");
+    qmlRegisterType<MAVLinkInspectorController>     (kQGCControllers,                       1, 0, "MAVLinkInspectorController");
     qmlRegisterType<SyslinkComponentController>     (kQGCControllers,                       1, 0, "SyslinkComponentController");
     qmlRegisterType<EditPositionDialogController>   (kQGCControllers,                       1, 0, "EditPositionDialogController");
 

src/QmlControls/QGCFlickable.qml

@@ -10,8 +10,6 @@ Flickable {
 
     property color indicatorColor: qgcPal.text
 
-    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
-
     Component.onCompleted: {
         var indicatorComponent = Qt.createComponent("QGCFlickableVerticalIndicator.qml")
         indicatorComponent.createObject(root)

src/QmlControls/QmlObjectListModel.cc

@@ -119,7 +119,7 @@ bool QmlObjectListModel::removeRows(int position, int rows, const QModelIndex& p
 QObject* QmlObjectListModel::operator[](int index)
 {
     if (index < 0 || index >= _objectList.count()) {
-        return NULL;
+        return nullptr;
     }
     return _objectList[index];
 }
@@ -127,7 +127,7 @@ QObject* QmlObjectListModel::operator[](int index)
 const QObject* QmlObjectListModel::operator[](int index) const
 {
     if (index < 0 || index >= _objectList.count()) {
-        return NULL;
+        return nullptr;
     }
     return _objectList[index];
 }

src/QmlControls/QmlObjectListModel.h

@@ -18,8 +18,8 @@ class QmlObjectListModel : public QAbstractListModel
     Q_OBJECT
     
 public:
-    QmlObjectListModel(QObject* parent = NULL);
-    ~QmlObjectListModel();
+    QmlObjectListModel(QObject* parent = nullptr);
+    ~QmlObjectListModel() override;
     
     Q_PROPERTY(int count READ count NOTIFY countChanged)