UASMessageHandler.cc

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

QGroundControl Open Source Ground Control Station

(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    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.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    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
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

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

/*!
 * @file
 *   @brief Message Handler
 *   @author Gus Grubba <mavlink@grubba.com>
 */

#include "QGCApplication.h"
#include "UASMessageHandler.h"
#include "UASManager.h"

UASMessage::UASMessage(int componentid, int severity, QString text)
{
    _compId   = componentid;
    _severity = severity;
    _text     = text;
}

IMPLEMENT_QGC_SINGLETON(UASMessageHandler, UASMessageHandler)

UASMessageHandler::UASMessageHandler(QObject *parent)
    : QGCSingleton(parent)
    , _activeUAS(NULL)
{
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
    emit textMessageReceived(NULL);
}

UASMessageHandler::~UASMessageHandler()
{
    clearMessages();
}

void UASMessageHandler::clearMessages()
{
    _mutex.lock();
    while(_messages.count()) {
        delete _messages.last();
        _messages.pop_back();
    }
    _mutex.unlock();
}

void UASMessageHandler::setActiveUAS(UASInterface* uas)
{
    // If we were already attached to an autopilot, disconnect it.
    if (_activeUAS && _activeUAS != uas)
    {
        disconnect(_activeUAS, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
        _activeUAS = NULL;
        clearMessages();
        emit textMessageReceived(NULL);
    }
    // And now if there's an autopilot to follow, set up the UI.
    if (uas)
    {
        // Connect to the new UAS.
        clearMessages();
        _activeUAS = uas;
        connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
    }
}

void UASMessageHandler::handleTextMessage(int uasid, int compId, int severity, QString text)
{
    Q_UNUSED(uasid);

    // Color the output depending on the message severity. We have 3 distinct cases:
    // 1: If we have an ERROR or worse, make it bigger, bolder, and highlight it red.
    // 2: If we have a warning or notice, just make it bold and color it orange.
    // 3: Otherwise color it the standard color, white.

    // So first determine the styling based on the severity.
    QString style;
    switch (severity)
    {
    case MAV_SEVERITY_EMERGENCY:
    case MAV_SEVERITY_ALERT:
    case MAV_SEVERITY_CRITICAL:
    case MAV_SEVERITY_ERROR:
        //Use set RGB values from given color from QGC
        style = QString("color: rgb(%1, %2, %3); font-weight:bold").arg(QGC::colorRed.red()).arg(QGC::colorRed.green()).arg(QGC::colorRed.blue());
        break;
    case MAV_SEVERITY_NOTICE:
    case MAV_SEVERITY_WARNING:
        style = QString("color: rgb(%1, %2, %3); font-weight:bold").arg(QGC::colorOrange.red()).arg(QGC::colorOrange.green()).arg(QGC::colorOrange.blue());
        break;
    default:
        style = QString("color:white; font-weight:bold");
        break;
    }

    // And determine the text for the severitie
    QString severityText("");
    switch (severity)
    {
    case MAV_SEVERITY_EMERGENCY:
        severityText = QString(tr(" EMERGENCY:"));
        break;
    case MAV_SEVERITY_ALERT:
        severityText = QString(tr(" ALERT:"));
        break;
    case MAV_SEVERITY_CRITICAL:
        severityText = QString(tr(" Critical:"));
        break;
    case MAV_SEVERITY_ERROR:
        severityText = QString(tr(" Error:"));
        break;
    case MAV_SEVERITY_WARNING:
        severityText = QString(tr(" Warning:"));
        break;
    case MAV_SEVERITY_NOTICE:
        severityText = QString(tr(" Notice:"));
        break;
    case MAV_SEVERITY_INFO:
        severityText = QString(tr(" Info:"));
        break;
    case MAV_SEVERITY_DEBUG:
        severityText = QString(tr(" Debug:"));
        break;
    default:
        severityText = QString(tr(""));
        break;
    }

    // Finally preppend the properly-styled text with a timestamp.
    QString dateString = QDateTime::currentDateTime().toString("hh:mm:ss.zzz");
    UASMessage* message = new UASMessage(compId, severity, text);
    message->_setFormatedText(QString("<p style=\"color:#CCCCCC\">[%2 - COMP:%3]<font style=\"%1\">%4 %5</font></p>").arg(style).arg(dateString).arg(compId).arg(severityText).arg(text));
    _mutex.lock();
    _messages.append(message);
    _mutex.unlock();
    emit textMessageReceived(message);
}