UASMessageHandler.cc 6.13 KB
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/****************************************************************************
 *
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 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
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/*!
 * @file
 *   @brief Message Handler
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 *   @author Gus Grubba <gus@auterion.com>
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 */

#include "QGCApplication.h"
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#include "UASMessageHandler.h"
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#include "MultiVehicleManager.h"
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#include "Vehicle.h"
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UASMessage::UASMessage(int componentid, int severity, QString text)
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{
    _compId   = componentid;
    _severity = severity;
    _text     = text;
}

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bool UASMessage::severityIsError()
{
    switch (_severity) {
        case MAV_SEVERITY_EMERGENCY:
        case MAV_SEVERITY_ALERT:
        case MAV_SEVERITY_CRITICAL:
        case MAV_SEVERITY_ERROR:
            return true;
        default:
            return false;
    }
}

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UASMessageHandler::UASMessageHandler(QGCApplication* app, QGCToolbox* toolbox)
    : QGCTool(app, toolbox)
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    , _activeVehicle(nullptr)
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    , _activeComponent(-1)
    , _multiComp(false)
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    , _errorCount(0)
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    , _errorCountTotal(0)
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    , _warningCount(0)
    , _normalCount(0)
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    , _showErrorsInToolbar(false)
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    , _multiVehicleManager(nullptr)
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{
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}

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

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void UASMessageHandler::setToolbox(QGCToolbox *toolbox)
{
   QGCTool::setToolbox(toolbox);

   _multiVehicleManager = _toolbox->multiVehicleManager();

   connect(_multiVehicleManager, &MultiVehicleManager::activeVehicleChanged, this, &UASMessageHandler::_activeVehicleChanged);
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   emit textMessageReceived(nullptr);
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   emit textMessageCountChanged(0);
}

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void UASMessageHandler::clearMessages()
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{
    _mutex.lock();
    while(_messages.count()) {
        delete _messages.last();
        _messages.pop_back();
    }
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    _errorCount   = 0;
    _warningCount = 0;
    _normalCount  = 0;
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    _mutex.unlock();
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    emit textMessageCountChanged(0);
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}

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void UASMessageHandler::_activeVehicleChanged(Vehicle* vehicle)
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{
    // If we were already attached to an autopilot, disconnect it.
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    if (_activeVehicle) {
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        disconnect(_activeVehicle, &Vehicle::textMessageReceived, this, &UASMessageHandler::handleTextMessage);
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        _activeVehicle = nullptr;
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        clearMessages();
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        emit textMessageReceived(nullptr);
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    }
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    // And now if there's an autopilot to follow, set up the UI.
    if (vehicle) {
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        // Connect to the new UAS.
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        clearMessages();
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        _activeVehicle = vehicle;
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        connect(_activeVehicle, &Vehicle::textMessageReceived, this, &UASMessageHandler::handleTextMessage);
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    }
}

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void UASMessageHandler::handleTextMessage(int, int compId, int severity, QString text)
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{
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    // Hack to prevent calibration messages from cluttering things up
    if (_activeVehicle->px4Firmware() && text.startsWith(QStringLiteral("[cal] "))) {
        return;
    }
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    // 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.

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    _mutex.lock();

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    if (_activeComponent < 0) {
        _activeComponent = compId;
    }

    if (compId != _activeComponent) {
        _multiComp = true;
    }

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    // 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:
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        style = QString("<#E>");
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        _errorCount++;
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        _errorCountTotal++;
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        break;
    case MAV_SEVERITY_NOTICE:
    case MAV_SEVERITY_WARNING:
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        style = QString("<#I>");
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        _warningCount++;
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        break;
    default:
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        style = QString("<#N>");
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        _normalCount++;
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        break;
    }

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

    // Finally preppend the properly-styled text with a timestamp.
    QString dateString = QDateTime::currentDateTime().toString("hh:mm:ss.zzz");
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    UASMessage* message = new UASMessage(compId, severity, text);
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    QString compString;
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    if (_multiComp) {
        compString = QString(" COMP:%1").arg(compId);
    }
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    message->_setFormatedText(QString("<font style=\"%1\">[%2%3]%4 %5</font><br/>").arg(style).arg(dateString).arg(compString).arg(severityText).arg(text));
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    if (message->severityIsError()) {
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        _latestError = severityText + " " + text;
    }
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    _mutex.unlock();
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    emit textMessageReceived(message);
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    _messages.append(message);
    int count = _messages.count();
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    emit textMessageCountChanged(count);
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    if (_showErrorsInToolbar && message->severityIsError()) {
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        _app->showMessage(message->getText());
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    }
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}
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int UASMessageHandler::getErrorCountTotal() {
    _mutex.lock();
    int c = _errorCountTotal;
    _mutex.unlock();
    return c;
}

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int UASMessageHandler::getErrorCount() {
    _mutex.lock();
    int c = _errorCount;
    _errorCount = 0;
    _mutex.unlock();
    return c;
}

int UASMessageHandler::getWarningCount() {
    _mutex.lock();
    int c = _warningCount;
    _warningCount = 0;
    _mutex.unlock();
    return c;
}

int UASMessageHandler::getNormalCount() {
    _mutex.lock();
    int c = _normalCount;
    _normalCount = 0;
    _mutex.unlock();
    return c;
}