MAVLinkInspectorController.cc 18.6 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13
/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/

#include "MAVLinkInspectorController.h"
#include "QGCApplication.h"
#include "MultiVehicleManager.h"

14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56
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;
    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);
    }
}

Gus Grubba's avatar
Gus Grubba committed
57 58 59 60 61 62 63 64 65 66
//-----------------------------------------------------------------------------
void
QGCMAVLinkMessage::updateFreq()
{
    quint64 msgCount = _count - _lastCount;
    _messageHz = (0.2 * _messageHz) + (0.8 * msgCount);
    _lastCount = _count;
    emit freqChanged();
}

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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177
//-----------------------------------------------------------------------------
void
QGCMAVLinkMessage::update(mavlink_message_t* message)
{
    _message = *message;
    _count++;
    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));
Gus Grubba's avatar
Gus Grubba committed
178 179 180 181 182 183 184
                    //-- Special case
                    if(_message.msgid == MAVLINK_MSG_ID_SYSTEM_TIME) {
                        QDateTime d = QDateTime::fromMSecsSinceEpoch(static_cast<qint64>(n),Qt::UTC,0);
                        f->updateValue(d.toString("HH:mm:ss"));
                    } else {
                        f->updateValue(QString::number(n));
                    }
185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247
                }
                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));
Gus Grubba's avatar
Gus Grubba committed
248 249 250 251 252 253 254
                    //-- Special case
                    if(_message.msgid == MAVLINK_MSG_ID_SYSTEM_TIME) {
                        QDateTime d = QDateTime::fromMSecsSinceEpoch(n/1000,Qt::UTC,0);
                        f->updateValue(d.toString("yyyy MM dd HH:mm:ss"));
                    } else {
                        f->updateValue(QString::number(n));
                    }
255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288
                }
                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*
Gus Grubba's avatar
Gus Grubba committed
289
QGCMAVLinkVehicle::findMessage(uint32_t id, uint8_t cid)
290 291 292 293
{
    for(int i = 0; i < _messages.count(); i++) {
        QGCMAVLinkMessage* m = qobject_cast<QGCMAVLinkMessage*>(_messages.get(i));
        if(m) {
Gus Grubba's avatar
Gus Grubba committed
294
            if(m->id() == id && m->cid() == cid) {
295 296 297 298 299 300 301
                return m;
            }
        }
    }
    return nullptr;
}

Gus Grubba's avatar
Gus Grubba committed
302 303 304 305 306 307 308 309 310 311 312
//-----------------------------------------------------------------------------
static bool
messages_sort(QObject* a, QObject* b)
{
    QGCMAVLinkMessage* aa = qobject_cast<QGCMAVLinkMessage*>(a);
    QGCMAVLinkMessage* bb = qobject_cast<QGCMAVLinkMessage*>(b);
    if(!aa || !bb) return false;
    if(aa->id() == bb->id()) return aa->cid() < bb->cid();
    return aa->id() < bb->id();
}

313 314 315 316 317
//-----------------------------------------------------------------------------
void
QGCMAVLinkVehicle::append(QGCMAVLinkMessage* message)
{
    _messages.append(message);
Gus Grubba's avatar
Gus Grubba committed
318 319 320 321 322 323 324 325 326 327
    //-- Sort messages by id and then cid
    if(_messages.count() > 0) {
        std::sort(_messages.objectList()->begin(), _messages.objectList()->end(), messages_sort);
        for(int i = 0; i < _messages.count(); i++) {
            QGCMAVLinkMessage* m = qobject_cast<QGCMAVLinkMessage*>(_messages.get(i));
            if(m) {
                emit m->indexChanged();
            }
        }
    }
328 329 330
    emit messagesChanged();
}

331 332 333 334 335 336 337 338
//-----------------------------------------------------------------------------
MAVLinkInspectorController::MAVLinkInspectorController()
{
    MultiVehicleManager* multiVehicleManager = qgcApp()->toolbox()->multiVehicleManager();
    connect(multiVehicleManager, &MultiVehicleManager::vehicleAdded,   this, &MAVLinkInspectorController::_vehicleAdded);
    connect(multiVehicleManager, &MultiVehicleManager::vehicleRemoved, this, &MAVLinkInspectorController::_vehicleRemoved);
    MAVLinkProtocol* mavlinkProtocol = qgcApp()->toolbox()->mavlinkProtocol();
    connect(mavlinkProtocol, &MAVLinkProtocol::messageReceived, this, &MAVLinkInspectorController::_receiveMessage);
Gus Grubba's avatar
Gus Grubba committed
339 340 341 342
    connect(&_updateTimer, &QTimer::timeout, this, &MAVLinkInspectorController::_refreshFrequency);
    _updateTimer.start(1000);
    MultiVehicleManager *manager = qgcApp()->toolbox()->multiVehicleManager();
    connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &MAVLinkInspectorController::_setActiveVehicle);
343 344 345 346 347 348 349 350
}

//-----------------------------------------------------------------------------
MAVLinkInspectorController::~MAVLinkInspectorController()
{
    _reset();
}

Gus Grubba's avatar
Gus Grubba committed
351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368

//----------------------------------------------------------------------------------------
void
MAVLinkInspectorController::_setActiveVehicle(Vehicle* vehicle)
{
    if(vehicle) {
        QGCMAVLinkVehicle* v = _findVehicle(static_cast<uint8_t>(vehicle->id()));
        if(v) {
            _activeVehicle = v;
        } else {
            _activeVehicle = nullptr;
        }
    } else {
        _activeVehicle = nullptr;
    }
    emit activeVehiclesChanged();
}

369 370 371 372 373 374 375 376 377 378 379 380 381 382 383
//-----------------------------------------------------------------------------
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;
}

Gus Grubba's avatar
Gus Grubba committed
384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400
//-----------------------------------------------------------------------------
void
MAVLinkInspectorController::_refreshFrequency()
{
    for(int i = 0; i < _vehicles.count(); i++) {
        QGCMAVLinkVehicle* v = qobject_cast<QGCMAVLinkVehicle*>(_vehicles.get(i));
        if(v) {
            for(int i = 0; i < v->messages()->count(); i++) {
                QGCMAVLinkMessage* m = qobject_cast<QGCMAVLinkMessage*>(v->messages()->get(i));
                if(m) {
                    m->updateFreq();
                }
            }
        }
    }
}

401 402 403 404
//-----------------------------------------------------------------------------
void
MAVLinkInspectorController::_vehicleAdded(Vehicle* vehicle)
{
405 406 407 408 409 410 411 412 413 414
    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();
415 416 417 418 419 420
}

//-----------------------------------------------------------------------------
void
MAVLinkInspectorController::_vehicleRemoved(Vehicle* vehicle)
{
421 422 423 424 425 426 427
    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();
428 429 430 431 432
    }
}

//-----------------------------------------------------------------------------
void
433
MAVLinkInspectorController::_receiveMessage(LinkInterface* link, mavlink_message_t message)
434 435
{
    Q_UNUSED(link);
436 437 438 439 440 441 442
    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();
Gus Grubba's avatar
Gus Grubba committed
443 444 445 446
        if(!_activeVehicle) {
            _activeVehicle = v;
            emit activeVehiclesChanged();
        }
447
    } else {
Gus Grubba's avatar
Gus Grubba committed
448
        m = v->findMessage(message.msgid, message.compid);
449
    }
450 451 452
    if(!m) {
        m = new QGCMAVLinkMessage(this, &message);
        v->append(m);
453
    } else {
454
        m->update(&message);
455
    }
456

457 458 459 460 461 462 463
}

//-----------------------------------------------------------------------------
void
MAVLinkInspectorController::_reset()
{
}