DebugConsole.h 5.58 KB
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/*=====================================================================

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QGroundControl Open Source Ground Control Station
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project
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    QGROUNDCONTROL is free software: you can redistribute it and/or modify
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    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

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    QGROUNDCONTROL is distributed in the hope that it will be useful,
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    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
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    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/

/**
 * @file
 *   @brief Debug console
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#ifndef DEBUGCONSOLE_H
#define DEBUGCONSOLE_H

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#include <QWidget>
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#include <QList>
#include <QByteArray>
#include <QTimer>
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#include <QKeyEvent>
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#include "LinkInterface.h"

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namespace Ui
{
class DebugConsole;
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}

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class UASInterface;

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/**
 * @brief Shows a debug console
 *
 * This class shows the raw data stream of each link
 * and the debug / text messages sent by all systems
 */
class DebugConsole : public QWidget
{
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    Q_OBJECT
public:
    DebugConsole(QWidget *parent = 0);
    ~DebugConsole();

public slots:
    /** @brief Add a link to the list of monitored links */
    void addLink(LinkInterface* link);
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    /** @brief Add a UAS to the list of monitored UAS */
    void uasCreated(UASInterface* uas);
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    /** @brief Remove a link from the list */
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    void removeLink(LinkInterface* link);
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    /** @brief Update a link name */
    void updateLinkName(QString name);
    /** @brief Select a link for the active view */
    void linkSelected(int linkId);
    /** @brief Receive bytes from link */
    void receiveBytes(LinkInterface* link, QByteArray bytes);
    /** @brief Send lineedit content over link */
    void sendBytes();
    /** @brief Enable HEX display mode */
    void hexModeEnabled(bool mode);
    /** @brief Filter out MAVLINK raw data */
    void MAVLINKfilterEnabled(bool filter);
    /** @brief Freeze input, do not store new incoming data */
    void hold(bool hold);
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    /** @brief Set connection state of the current link */
    void setConnectionState(bool);
    /** @brief Handle the connect button */
    void handleConnectButton();
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    /** @brief Enable auto-freeze mode if traffic intensity is too high to display */
    void setAutoHold(bool hold);
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    /** @brief Receive plain text message to output to the user */
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    void receiveTextMessage(int id, int component, int severity, QString text);
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    /** @brief Append a special symbol */
    void appendSpecialSymbol(const QString& text);
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    /** @brief Append the special symbol currently selected in combo box */
    void appendSpecialSymbol();
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    /** @brief A new special symbol is selected */
    void specialSymbolSelected(const QString& text);
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    void linkStatusUpdate(const QString& name,const QString& text);

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protected slots:
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    /** @brief Draw information overlay */
    void paintEvent(QPaintEvent *event);
    /** @brief Update traffic measurements */
    void updateTrafficMeasurements();
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    void loadSettings();
    void storeSettings();
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protected:
    void changeEvent(QEvent *e);
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    void hideEvent(QHideEvent* event);
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    /** @brief Convert a symbol name to the byte representation */
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    QByteArray symbolNameToBytes(const QString& symbol);
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    /** @brief Convert a symbol byte to the name */
    QString bytesToSymbolNames(const QByteArray& b);
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    /** @brief Handle keypress events */
    void keyPressEvent(QKeyEvent * event);
    /** @brief Cycle through the command history */
    void cycleCommandHistory(bool up);
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    QList<LinkInterface*> links;
    LinkInterface* currLink;

    bool holdOn;              ///< Hold current view, ignore new data
    bool convertToAscii;      ///< Convert data to ASCII
    bool filterMAVLINK;       ///< Set true to filter out MAVLink in output
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    bool autoHold;            ///< Auto-hold mode sets view into hold if the data rate is too high
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    int bytesToIgnore;        ///< Number of bytes to ignore
    char lastByte;            ///< The last received byte
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    bool escReceived;         ///< True if received ESC char in ASCII mode
    int escIndex;             ///< Index of bytes since ESC was received
    char escBytes[5];         ///< Escape-following bytes
    bool terminalReceived;    ///< Terminal sequence received
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    QList<QString> sentBytes; ///< Transmitted bytes, per transmission
    QByteArray holdBuffer;    ///< Buffer where bytes are stored during hold-enable
    QString lineBuffer;       ///< Buffere where bytes are stored before writing them out
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    quint64 lastLineBuffer;   ///< Last line buffer emission time
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    QTimer lineBufferTimer;   ///< Line buffer timer
    QTimer snapShotTimer;     ///< Timer for measuring traffic snapshots
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    static const int snapShotInterval = 500;     ///< Set the time between UI updates for the data rate (ms)
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    float lowpassInDataRate;    ///< Lowpass filtered data rate (kilobytes/s)
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    static const float inDataRateThreshold;  ///< Threshold where to enable auto-hold (kilobytes/s)
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    float lowpassOutDataRate;   ///< Low-pass filtered outgoing data rate (kilobytes/s)
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    QStringList commandHistory;
    QString currCommand;
    int commandIndex;
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private:
    Ui::DebugConsole *m_ui;
};

#endif // DEBUGCONSOLE_H