DebugConsole.cc 17.1 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

lm's avatar
lm committed
3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

lm's avatar
lm committed
5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

lm's avatar
lm committed
7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

lm's avatar
lm committed
9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    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.

lm's avatar
lm committed
14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    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
lm's avatar
lm committed
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25

======================================================================*/

/**
 * @file
lm's avatar
lm committed
26
 *   @brief Implementation of DebugConsole
pixhawk's avatar
pixhawk committed
27 28 29 30 31 32 33 34 35
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */
#include <QPainter>

#include "DebugConsole.h"
#include "ui_DebugConsole.h"
#include "LinkManager.h"
36
#include "UASManager.h"
pixhawk's avatar
pixhawk committed
37
#include "protocol.h"
38
#include "QGC.h"
pixhawk's avatar
pixhawk committed
39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64

#include <QDebug>

DebugConsole::DebugConsole(QWidget *parent) :
        QWidget(parent),
        currLink(NULL),
        holdOn(false),
        convertToAscii(true),
        filterMAVLINK(false),
        bytesToIgnore(0),
        lastByte(-1),
        sentBytes(),
        holdBuffer(),
        lineBuffer(""),
        lineBufferTimer(),
        snapShotTimer(),
        snapShotInterval(500),
        snapShotBytes(0),
        dataRate(0.0f),
        lowpassDataRate(0.0f),
        dataRateThreshold(500),
        autoHold(true),
        m_ui(new Ui::DebugConsole)
{
    // Setup basic user interface
    m_ui->setupUi(this);
pixhawk's avatar
pixhawk committed
65 66
    // Hide sent text field - it is only useful after send has been hit
    m_ui->sentText->setVisible(false);
pixhawk's avatar
pixhawk committed
67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107
    // Make text area not editable
    m_ui->receiveText->setReadOnly(true);
    // Limit to 500 lines
    m_ui->receiveText->setMaximumBlockCount(500);
    // Allow to wrap everywhere
    m_ui->receiveText->setWordWrapMode(QTextOption::WrapAnywhere);

    // Enable 10 Hz output
    //connect(&lineBufferTimer, SIGNAL(timeout()), this, SLOT(showData()));
    //lineBufferTimer.setInterval(100); // 100 Hz
    //lineBufferTimer.start();

    // Enable traffic measurements
    connect(&snapShotTimer, SIGNAL(timeout()), this, SLOT(updateTrafficMeasurements()));
    snapShotTimer.setInterval(snapShotInterval);
    snapShotTimer.start();

    // Set hex checkbox checked
    m_ui->hexCheckBox->setChecked(!convertToAscii);
    m_ui->mavlinkCheckBox->setChecked(filterMAVLINK);
    m_ui->holdCheckBox->setChecked(autoHold);

    // Get a list of all existing links
    links = QList<LinkInterface*>();
    foreach (LinkInterface* link, LinkManager::instance()->getLinks())
    {
        addLink(link);
    }

    // Connect to link manager to get notified about new links
    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
    // Connect link combo box
    connect(m_ui->linkComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(linkSelected(int)));
    // Connect send button
    connect(m_ui->transmitButton, SIGNAL(clicked()), this, SLOT(sendBytes()));
    // Connect HEX conversion and MAVLINK filter checkboxes
    connect(m_ui->mavlinkCheckBox, SIGNAL(clicked(bool)), this, SLOT(MAVLINKfilterEnabled(bool)));
    connect(m_ui->hexCheckBox, SIGNAL(clicked(bool)), this, SLOT(hexModeEnabled(bool)));
    connect(m_ui->holdCheckBox, SIGNAL(clicked(bool)), this, SLOT(setAutoHold(bool)));
    // Connect hold button
    connect(m_ui->holdButton, SIGNAL(toggled(bool)), this, SLOT(hold(bool)));
108 109
    // Connect connect button
    connect(m_ui->connectButton, SIGNAL(clicked()), this, SLOT(handleConnectButton()));
110 111
    // Connect the special chars combo box
    connect(m_ui->specialComboBox, SIGNAL(activated(QString)), this, SLOT(appendSpecialSymbol(QString)));
112 113

    this->setVisible(false);
pixhawk's avatar
pixhawk committed
114 115 116 117 118 119 120
}

DebugConsole::~DebugConsole()
{
    delete m_ui;
}

pixhawk's avatar
pixhawk committed
121 122 123
/**
 * Add a link to the debug console output
 */
pixhawk's avatar
pixhawk committed
124 125 126 127
void DebugConsole::addLink(LinkInterface* link)
{
    // Add link to link list
    links.insert(link->getId(), link);
pixhawk's avatar
pixhawk committed
128

pixhawk's avatar
pixhawk committed
129 130 131
    m_ui->linkComboBox->insertItem(link->getId(), link->getName());
    // Set new item as current
    m_ui->linkComboBox->setCurrentIndex(qMax(0, links.size() - 1));
132
    linkSelected(m_ui->linkComboBox->currentIndex());
pixhawk's avatar
pixhawk committed
133 134 135

    // Register for name changes
    connect(link, SIGNAL(nameChanged(QString)), this, SLOT(updateLinkName(QString)));
136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151
    connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
}

void DebugConsole::removeLink(QObject* link)
{
    LinkInterface* linkInterface = dynamic_cast<LinkInterface*>(link);
    // Add link to link list
    if (links.contains(linkInterface))
    {
        int linkIndex = links.indexOf(linkInterface);

        links.removeAt(linkIndex);

        m_ui->linkComboBox->removeItem(linkIndex);
    }
    if (link == currLink) currLink = NULL;
pixhawk's avatar
pixhawk committed
152 153 154 155 156
}

void DebugConsole::linkSelected(int linkId)
{
    // Disconnect
157
    if (currLink)
pixhawk's avatar
pixhawk committed
158 159
    {
        disconnect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray)));
160
        disconnect(currLink, SIGNAL(connected(bool)), this, SLOT(setConnectionState(bool)));
pixhawk's avatar
pixhawk committed
161 162 163 164 165 166 167
    }
    // Clear data
    m_ui->receiveText->clear();

    // Connect new link
    currLink = links[linkId];
    connect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray)));
168 169
    connect(currLink, SIGNAL(connected(bool)), this, SLOT(setConnectionState(bool)));
    setConnectionState(currLink->isConnected());
pixhawk's avatar
pixhawk committed
170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193
}

/**
 * @param name new name for this link - the link is determined to the sender to this slot by QObject::sender()
 */
void DebugConsole::updateLinkName(QString name)
{
    // Set name if signal came from a link
    LinkInterface* link = qobject_cast<LinkInterface*>(sender());
    if (link != NULL) m_ui->linkComboBox->setItemText(link->getId(), name);
}

void DebugConsole::setAutoHold(bool hold)
{
    // Disable current hold if hold had been enabled
    if (autoHold && holdOn && !hold)
    {
        this->hold(false);
        m_ui->holdButton->setChecked(false);
    }
    // Set new state
    autoHold = hold;
}

194 195 196 197
/**
 * Prints the message in the UAS color
 */
void DebugConsole::receiveTextMessage(int id, int component, int severity, QString text)
198
{
199 200
    Q_UNUSED(severity);
    m_ui->receiveText->appendHtml(QString("<font color=\"%1\">(MAV%2:%3) %4</font>").arg(UASManager::instance()->getUASForId(id)->getColor().name(), QString::number(id), QString::number(component), text));
201 202
}

pixhawk's avatar
pixhawk committed
203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232
void DebugConsole::updateTrafficMeasurements()
{
    lowpassDataRate = lowpassDataRate * 0.9f + (0.1f * ((float)snapShotBytes / (float)snapShotInterval) * 1000.0f);
    dataRate = ((float)snapShotBytes / (float)snapShotInterval) * 1000.0f;
    snapShotBytes = 0;

    // Check if limit has been exceeded
    if ((lowpassDataRate > dataRateThreshold) && autoHold)
    {
        // Enable auto-old
        m_ui->holdButton->setChecked(true);
        hold(true);
    }

    QString speed;
    speed = speed.sprintf("%04.1f kB/s", dataRate/1000.0f);
    m_ui->speedLabel->setText(speed);

    if (holdOn)
    {
        //repaint();
    }
}

//QPainter painter(m_ui->receiveText);
//painter.setRenderHint(QPainter::HighQualityAntialiasing);
//painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);

void DebugConsole::paintEvent(QPaintEvent *event)
{
233
    Q_UNUSED(event);
pixhawk's avatar
pixhawk committed
234
    // Update bandwidth
235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258
//    if (holdOn)
//    {
//        //qDebug() << "Data rate:" << dataRate/1000.0f << "kB/s";
//        QString rate("data rate: %1");
//        rate.arg(dataRate);
//        QPainter painter(this);
//        painter.setRenderHint(QPainter::HighQualityAntialiasing);
//        painter.translate(width()/5.0f, height()/5.0f);



//        //QFont font("Bitstream Vera Sans");
//        QFont font = painter.font();
//        font.setPixelSize((int)(60.0f));

//        QFontMetrics metrics = QFontMetrics(font);
//        int border = qMax(4, metrics.leading());
//        QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125),
//                                          Qt::AlignLeft | Qt::TextWordWrap, rate);
//        painter.setPen(QColor(255, 50, 50));
//        painter.setRenderHint(QPainter::TextAntialiasing);
//        painter.drawText(QRect(QPoint(static_cast<int>(width()/5.0f), static_cast<int>(height()/5.0f)), QPoint(static_cast<int>(width() - width()/5.0f), static_cast<int>(height() - height()/5.0f))), rate);
//        //Qt::AlignRight | Qt::TextWordWrap
//    }
pixhawk's avatar
pixhawk committed
259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333
}

void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
{
    snapShotBytes += bytes.size();
    // Only add date from current link
    if (link == currLink && !holdOn)
    {
        // Parse all bytes
        for (int j = 0; j < bytes.size(); j++)
        {
            unsigned char byte = bytes.at(j);
            // Filter MAVLink (http://pixhawk.ethz.ch/mavlink) messages out of the stream.
            if (filterMAVLINK && bytes.size() > 1)
            {
                // Filtering is done by setting an ignore counter based on the MAVLINK packet length
                if (static_cast<unsigned char>(bytes[0]) == MAVLINK_STX) bytesToIgnore = static_cast<unsigned int>(bytes[1]) + MAVLINK_NUM_NON_PAYLOAD_BYTES; // Payload plus header
            }

            if (bytesToIgnore <= 0)
            {
                QString str;
                // Convert to ASCII for readability
                if (convertToAscii)
                {
                    if ((byte < 32) || (byte > 126))
                    {
                        switch (byte)
                        {
                            // Catch line feed
                        case (unsigned char)'\n':
                            m_ui->receiveText->appendPlainText(str);
                            str = "";
                            break;
                            // Catch carriage return
                        case (unsigned char)'\r':
                            // Ignore
                            break;
                        default:
                            str.append(QChar(QChar::ReplacementCharacter));
                            break;
                        }// Append replacement character (box) if char is not ASCII
                    }
                    else
                    {
                        // Append original character
                        str.append(byte);
                    }
                }
                else
                {
                    QString str2;
                    str2.sprintf("%02x ", byte);
                    str.append(str2);
                }
                lineBuffer.append(str);
            }
            else
            {
                if (filterMAVLINK) bytesToIgnore--;
                // Constrain bytes to positive range
                bytesToIgnore = qMax(0, bytesToIgnore);
            }

        }
        m_ui->receiveText->appendPlainText(lineBuffer);
        lineBuffer.clear();

    }
    else if (link == currLink && holdOn)
    {
        holdBuffer.append(bytes);
    }
}

334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397
QByteArray DebugConsole::symbolNameToBytes(const QString& text)
{
    QByteArray b;
    if (text == "LF")
    {
        b.append(static_cast<char>(0x0A));
    }
    else if (text == "FF")
    {
        b.append(static_cast<char>(0x0C));
    }
    else if (text == "CR")
    {
        b.append(static_cast<char>(0x0D));
    }
    else if (text == "CR+LF")
    {
        b.append(static_cast<char>(0x0D));
        b.append(static_cast<char>(0x0A));
    }
    else if (text == "TAB")
    {
        b.append(static_cast<char>(0x09));
    }
    else if (text == "NUL")
    {
        b.append(static_cast<char>(0x00));
    }
    else if (text == "ESC")
    {
        b.append(static_cast<char>(0x1B));
    }
    else if (text == "~")
    {
        b.append(static_cast<char>(0x7E));
    }
    else if (text == "<Space>")
    {
        b.append(static_cast<char>(0x20));
    }
    return b;
}

void DebugConsole::appendSpecialSymbol(const QString& text)
{
    QString line = m_ui->sendText->text();
    QByteArray symbols = symbolNameToBytes(text);
    // The text is appended to the enter field
    if (convertToAscii)
    {
        line.append(symbols);
    }
    else
    {

        for (int i = 0; i < symbols.size(); i++)
        {
            QString add(" 0x%1");
            line.append(add.arg(static_cast<char>(symbols.at(i)), 2, 16, QChar('0')));
        }
    }
    m_ui->sendText->setText(line);
}

pixhawk's avatar
pixhawk committed
398 399
void DebugConsole::sendBytes()
{
pixhawk's avatar
pixhawk committed
400 401 402 403 404
    if (!m_ui->sentText->isVisible())
    {
        m_ui->sentText->setVisible(true);
    }

405 406 407 408 409 410
    if (!currLink->isConnected())
    {
        m_ui->sentText->setText(tr("Nothing sent. The link %1 is unconnected. Please connect first.").arg(currLink->getName()));
        return;
    }

pixhawk's avatar
pixhawk committed
411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463
    QByteArray transmit;
    QString feedback;
    bool ok = true;
    if (convertToAscii)
    {
        // ASCII text is not converted
        transmit = m_ui->sendText->text().toLatin1();
        feedback = transmit;
    }
    else
    {
        // HEX symbols are converted to bytes
        QString str = m_ui->sendText->text().toLatin1();
        str.remove(' ');
        str.remove("0x");
        str.simplified();
        int bufferIndex = 0;
        if ((str.size() % 2) == 0)
        {
            for (int i = 0; i < str.size(); i=i+2)
            {
                bool okByte;
                QString strBuf = QString(str.at(i));
                strBuf.append(str.at(i+1));
                unsigned char hex = strBuf.toInt(&okByte, 16);
                ok = (ok && okByte);
                transmit[bufferIndex++] = hex;

                if (okByte)
                {
                    // Feedback
                    //feedback.append("0x");
                    feedback.append(str.at(i).toUpper());
                    feedback.append(str.at(i+1).toUpper());
                    feedback.append(" ");
                }
                else
                {
                    feedback = tr("HEX format error near \"") + strBuf + "\"";
                }
            }
        }
        else
        {
            ok = false;
            feedback = tr("HEX values have to be in pairs, e.g. AA or AA 05");
        }
    }

    // Transmit ASCII or HEX formatted text, only if more than one symbol
    if (ok && m_ui->sendText->text().toLatin1().size() > 0)
    {
        // Transmit only if conversion succeeded
464 465 466 467 468 469 470 471 472 473
//        int transmitted =
                currLink->writeBytes(transmit, transmit.size());
//        if (transmit.size() == transmitted)
//        {
            m_ui->sentText->setText(tr("Sent: ") + feedback);
//        }
//        else
//        {
//            m_ui->sentText->setText(tr("Error during sending: Transmitted only %1 bytes instead of %2.").arg(transmitted, transmit.size()));
//        }
pixhawk's avatar
pixhawk committed
474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492
    }
    else if (m_ui->sendText->text().toLatin1().size() > 0)
    {
        // Conversion failed, display error message
        m_ui->sentText->setText(tr("Not sent: ") + feedback);
    }

    // Select text to easy follow-up input from user
    m_ui->sendText->selectAll();
    m_ui->sendText->setFocus(Qt::OtherFocusReason);
}

/**
 * @param mode true to convert all in and output to/from HEX, false to send and receive ASCII values
 */
void DebugConsole::hexModeEnabled(bool mode)
{
    convertToAscii = !mode;
    m_ui->receiveText->clear();
493 494
    m_ui->sendText->clear();
    m_ui->sentText->clear();
pixhawk's avatar
pixhawk committed
495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520
}

/**
 * @param filter true to ignore all MAVLINK raw data in output, false, to display all incoming data
 */
void DebugConsole::MAVLINKfilterEnabled(bool filter)
{
    filterMAVLINK = filter;
    bytesToIgnore = 0;
}
/**
 * @param hold Freeze the input and thus any scrolling
 */
void DebugConsole::hold(bool hold)
{
    // Check if we need to append bytes from the hold buffer
    if (this->holdOn && !hold)
    {
        m_ui->receiveText->appendPlainText(QString(holdBuffer));
        holdBuffer.clear();
        lowpassDataRate = 0.0f;
    }

    this->holdOn = hold;
}

521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548
/**
 * Sets the connection state the widget shows to this state
 */
void DebugConsole::setConnectionState(bool connected)
{
    if(connected)
    {
        m_ui->connectButton->setText(tr("Disconn."));
        m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>").arg(QGC::colorGreen.name(), tr("Link %1 is connected.").arg(currLink->getName())));
    }
    else
    {
        m_ui->connectButton->setText(tr("Connect"));
        m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>").arg(QGC::colorYellow.name(), tr("Link %1 is unconnected.").arg(currLink->getName())));
    }
}

/** @brief Handle the connect button */
void DebugConsole::handleConnectButton()
{
    if (currLink)
    {
        if (currLink->isConnected())
        {
            currLink->disconnect();
        }
        else
        {
549
            currLink->connect();
550 551 552 553
        }
    }
}

pixhawk's avatar
pixhawk committed
554 555 556 557 558 559 560 561 562 563 564
void DebugConsole::changeEvent(QEvent *e)
{
    QWidget::changeEvent(e);
    switch (e->type()) {
    case QEvent::LanguageChange:
        m_ui->retranslateUi(this);
        break;
    default:
        break;
    }
}