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#include "ui_QGCMAVLinkInspector.h"
#include <QDebug>
const float QGCMAVLinkInspector::updateHzLowpass = 0.2f;
const unsigned int QGCMAVLinkInspector::updateInterval = 1000U;
QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent) :
QWidget(parent),
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_protocol(protocol),
ui(new Ui::QGCMAVLinkInspector)
{
ui->setupUi(this);
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// Make sure "All" is an option for both the system and components
ui->systemComboBox->addItem(tr("All"), 0);
ui->componentComboBox->addItem(tr("All"), 0);
// Store metadata for all MAVLink messages.
mavlink_message_info_t msg_infos[256] = MAVLINK_MESSAGE_INFO;
memcpy(messageInfo, msg_infos, sizeof(mavlink_message_info_t)*256);
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// Set up the column headers for the message listing
QStringList header;
header << tr("Name");
header << tr("Value");
header << tr("Type");
ui->treeWidget->setHeaderLabels(header);
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// Set up the column headers for the rate listing
QStringList rateHeader;
rateHeader << tr("Name");
rateHeader << tr("#ID");
rateHeader << tr("Rate");
ui->rateTreeWidget->setHeaderLabels(rateHeader);
connect(ui->rateTreeWidget, SIGNAL(itemChanged(QTreeWidgetItem*,int)),
this, SLOT(rateTreeItemChanged(QTreeWidgetItem*,int)));
ui->rateTreeWidget->hide();
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// Connect the UI
connect(ui->systemComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectDropDownMenuSystem(int)));
connect(ui->componentComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectDropDownMenuComponent(int)));
connect(ui->clearButton, SIGNAL(clicked()), this, SLOT(clearView()));
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// Connect external connections
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addSystem(UASInterface*)));
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connect(protocol, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), this, SLOT(receiveMessage(LinkInterface*,mavlink_message_t)));
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// Attach the UI's refresh rate to a timer.
connect(&updateTimer, SIGNAL(timeout()), this, SLOT(refreshView()));
void QGCMAVLinkInspector::addSystem(UASInterface* uas)
{
ui->systemComboBox->addItem(uas->getUASName(), uas->getUASID());
// Add a tree for a new UAS
addUAStoTree(uas->getUASID());
}
void QGCMAVLinkInspector::selectDropDownMenuSystem(int dropdownid)
{
selectedSystemID = ui->systemComboBox->itemData(dropdownid).toInt();
rebuildComponentList();
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if (selectedSystemID != 0 && selectedComponentID != 0) {
ui->rateTreeWidget->show();
} else {
ui->rateTreeWidget->hide();
}
}
void QGCMAVLinkInspector::selectDropDownMenuComponent(int dropdownid)
{
selectedComponentID = ui->componentComboBox->itemData(dropdownid).toInt();
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if (selectedSystemID != 0 && selectedComponentID != 0) {
ui->rateTreeWidget->show();
} else {
ui->rateTreeWidget->hide();
}
}
void QGCMAVLinkInspector::rebuildComponentList()
{
ui->componentComboBox->clear();
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components.clear();
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ui->componentComboBox->addItem(tr("All"), 0);
// Fill
UASInterface* uas = UASManager::instance()->getUASForId(selectedSystemID);
if (uas)
{
QMap<int, QString> components = uas->getComponents();
foreach (int id, components.keys())
{
QString name = components.value(id);
ui->componentComboBox->addItem(name, id);
}
}
}
void QGCMAVLinkInspector::addComponent(int uas, int component, const QString& name)
{
Q_UNUSED(component);
Q_UNUSED(name);
if (uas != selectedSystemID) return;
rebuildComponentList();
}
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/**
* Reset the view. This entails clearing all data structures and resetting data from already-
* received messages.
*/
void QGCMAVLinkInspector::clearView()
{
uasTreeWidgetItems.clear();
uasMsgTreeItems.clear();
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uasMessageStorage.clear();
uasMessageHz.clear();
uasMessageCount.clear();
uasLastMessageUpdate.clear();
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onboardMessageInterval.clear();
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ui->rateTreeWidget->clear();
QMap<int, mavlink_message_t* >::const_iterator ite;
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for(ite=uasMessageStorage.constBegin(); ite!=uasMessageStorage.constEnd();++ite)
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mavlink_message_t* msg = ite.value();
// Ignore NULL values
if (msg->msgid == 0xFF) continue;
// Update the message frenquency
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// Get the previous frequency for low-pass filtering
float msgHz = 0.0f;
QMap<int, QMap<int, float>* >::const_iterator iteHz = uasMessageHz.find(msg->sysid);
QMap<int, float>* uasMsgHz = iteHz.value();
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while((iteHz != uasMessageHz.end()) && (iteHz.key() == msg->sysid))
{
if(iteHz.value()->contains(msg->msgid))
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uasMsgHz = iteHz.value();
msgHz = iteHz.value()->value(msg->msgid);
break;
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++iteHz;
}
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// Get the number of message received
float msgCount = 0;
QMap<int, QMap<int, unsigned int> * >::const_iterator iter = uasMessageCount.find(msg->sysid);
QMap<int, unsigned int>* uasMsgCount = iter.value();
while((iter != uasMessageCount.end()) && (iter.key()==msg->sysid))
{
if(iter.value()->contains(msg->msgid))
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msgCount = (float) iter.value()->value(msg->msgid);
uasMsgCount = iter.value();
break;
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++iter;
}
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// Compute the new low-pass filtered frequency and update the message count
msgHz = (1.0f-updateHzLowpass)* msgHz + updateHzLowpass*msgCount/((float)updateInterval/1000.0f);
uasMsgHz->insert(msg->msgid,msgHz);
uasMsgCount->insert(msg->msgid,(unsigned int) 0);
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// Update the tree view
QString messageName("%1 (%2 Hz, #%3)");
messageName = messageName.arg(messageInfo[msg->msgid].name).arg(msgHz, 3, 'f', 1).arg(msg->msgid);
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addUAStoTree(msg->sysid);
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// Look for the tree for the UAS sysid
QMap<int, QTreeWidgetItem*>* msgTreeItems = uasMsgTreeItems.value(msg->sysid);
if (!msgTreeItems)
{
// The UAS tree has not been created yet, no update
return;
}
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// Add the message with msgid to the tree if not done yet
if(!msgTreeItems->contains(msg->msgid))
{
QStringList fields;
fields << messageName;
QTreeWidgetItem* widget = new QTreeWidgetItem();
for (unsigned int i = 0; i < messageInfo[msg->msgid].num_fields; ++i)
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QTreeWidgetItem* field = new QTreeWidgetItem();
widget->addChild(field);
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msgTreeItems->insert(msg->msgid,widget);
QList<int> groupKeys = msgTreeItems->uniqueKeys();
int insertIndex = groupKeys.indexOf(msg->msgid);
uasTreeWidgetItems.value(msg->sysid)->insertChild(insertIndex,widget);
}
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// Update the message
QTreeWidgetItem* message = msgTreeItems->value(msg->msgid);
if(message)
{
message->setFirstColumnSpanned(true);
message->setData(0, Qt::DisplayRole, QVariant(messageName));
for (unsigned int i = 0; i < messageInfo[msg->msgid].num_fields; ++i)
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updateField(msg->sysid,msg->msgid, i, message->child(i));
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if (selectedSystemID == 0 || selectedComponentID == 0)
{
return;
}
for (int i = 0; i < 256; ++i)//mavlink_message_t msg, receivedMessages)
{
const char* msgname = messageInfo[i].name;
int namelen = strnlen(msgname, 5);
if (namelen < 3) {
continue;
}
if (!strcmp(msgname, "EMPTY")) {
continue;
}
// Update the tree view
QString messageName("%1");
messageName = messageName.arg(msgname);
if (!rateTreeWidgetItems.contains(i))
{
QStringList fields;
fields << messageName;
fields << QString("%1").arg(i);
fields << "OFF / --- Hz";
QTreeWidgetItem* widget = new QTreeWidgetItem(fields);
widget->setFlags(widget->flags() | Qt::ItemIsEditable);
rateTreeWidgetItems.insert(i, widget);
ui->rateTreeWidget->addTopLevelItem(widget);
}
// Set Hz
//QTreeWidgetItem* message = rateTreeWidgetItems.value(i);
//message->setData(0, Qt::DisplayRole, QVariant(messageName));
}
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void QGCMAVLinkInspector::addUAStoTree(int sysId)
{
if(!uasTreeWidgetItems.contains(sysId))
{
// Add the UAS to the main tree after it has been created
UASInterface* uas = UASManager::instance()->getUASForId(sysId);
if (uas)
{
QStringList idstring;
if (uas->getUASName() == "")
{
idstring << tr("UAS ") + QString::number(uas->getUASID());
}
else
{
idstring << uas->getUASName();
}
QTreeWidgetItem* uasWidget = new QTreeWidgetItem(idstring);
uasWidget->setFirstColumnSpanned(true);
uasTreeWidgetItems.insert(sysId,uasWidget);
ui->treeWidget->addTopLevelItem(uasWidget);
uasMsgTreeItems.insert(sysId,new QMap<int, QTreeWidgetItem*>());
}
}
}
void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t message)
{
Q_UNUSED(link);
quint64 receiveTime;
// Create dynamically an array to store the messages for each UAS
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if (!uasMessageStorage.contains(message.sysid))
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mavlink_message_t* msg = new mavlink_message_t;
*msg = message;
uasMessageStorage.insertMulti(message.sysid,msg);
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}
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bool msgFound = false;
QMap<int, mavlink_message_t* >::const_iterator iteMsg = uasMessageStorage.find(message.sysid);
mavlink_message_t* uasMessage = iteMsg.value();
while((iteMsg != uasMessageStorage.end()) && (iteMsg.key() == message.sysid))
{
if (iteMsg.value()->msgid == message.msgid)
{
msgFound = true;
uasMessage = iteMsg.value();
break;
}
++iteMsg;
}
if (!msgFound)
{
mavlink_message_t* msgIdMessage = new mavlink_message_t;
*msgIdMessage = message;
uasMessageStorage.insertMulti(message.sysid,msgIdMessage);
}
else
{
*uasMessage = message;
}
// Looking if this message has already been received once
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msgFound = false;
QMap<int, QMap<int, quint64>* >::const_iterator ite = uasLastMessageUpdate.find(message.sysid);
QMap<int, quint64>* lastMsgUpdate = ite.value();
while((ite != uasLastMessageUpdate.end()) && (ite.key() == message.sysid))
{
if(ite.value()->contains(message.msgid))
{
msgFound = true;
// Point to the found message
lastMsgUpdate = ite.value();
break;
}
++ite;
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}
receiveTime = QGC::groundTimeMilliseconds();
// If the message doesn't exist, create a map for the frequency, message count and time of reception
if(!msgFound)
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{
// Create a map for the message frequency
QMap<int, float>* messageHz = new QMap<int,float>;
messageHz->insert(message.msgid,0.0f);
uasMessageHz.insertMulti(message.sysid,messageHz);
// Create a map for the message count
QMap<int, unsigned int>* messagesCount = new QMap<int, unsigned int>;
messagesCount->insert(message.msgid,0);
uasMessageCount.insertMulti(message.sysid,messagesCount);
// Create a map for the time of reception of the message
QMap<int, quint64>* lastMessage = new QMap<int, quint64>;
lastMessage->insert(message.msgid,receiveTime);
uasLastMessageUpdate.insertMulti(message.sysid,lastMessage);
// Point to the created message
lastMsgUpdate = lastMessage;
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}
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else
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// The message has been found/created
if ((lastMsgUpdate->contains(message.msgid))&&(uasMessageCount.contains(message.sysid)))
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// Looking for and updating the message count
unsigned int count = 0;
QMap<int, QMap<int, unsigned int>* >::const_iterator iter = uasMessageCount.find(message.sysid);
QMap<int, unsigned int> * uasMsgCount = iter.value();
while((iter != uasMessageCount.end()) && (iter.key() == message.sysid))
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if(iter.value()->contains(message.msgid))
{
uasMsgCount = iter.value();
count = uasMsgCount->value(message.msgid,0);
uasMsgCount->insert(message.msgid,count+1);
break;
}
++iter;
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lastMsgUpdate->insert(message.msgid,receiveTime);
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if (selectedSystemID == 0 || selectedComponentID == 0)
{
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return;
}
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case MAVLINK_MSG_ID_DATA_STREAM:
{
mavlink_data_stream_t stream;
mavlink_msg_data_stream_decode(&message, &stream);
onboardMessageInterval.insert(stream.stream_id, stream.message_rate);
}
break;
}
}
void QGCMAVLinkInspector::changeStreamInterval(int msgid, int interval) {
//REQUEST_DATA_STREAM
if (selectedSystemID == 0 || selectedComponentID == 0) {
return;
}
mavlink_request_data_stream_t stream;
stream.target_system = selectedSystemID;
stream.target_component = selectedComponentID;
stream.req_stream_id = msgid;
stream.req_message_rate = interval;
stream.start_stop = (interval > 0);
mavlink_message_t msg;
mavlink_msg_request_data_stream_encode(_protocol->getSystemId(), _protocol->getComponentId(), &msg, &stream);
_protocol->sendMessage(msg);
}
void QGCMAVLinkInspector::rateTreeItemChanged(QTreeWidgetItem* paramItem, int column)
{
if (paramItem && column > 0) {
int key = paramItem->data(1, Qt::DisplayRole).toInt();
QVariant value = paramItem->data(2, Qt::DisplayRole);
float interval = 1000 / value.toFloat();
qDebug() << "Stream " << key << "interval" << interval;
changeStreamInterval(key, interval);
}
}
QGCMAVLinkInspector::~QGCMAVLinkInspector()
{
delete ui;
}
void QGCMAVLinkInspector::updateField(int sysid, int msgid, int fieldid, QTreeWidgetItem* item)
{
// Add field tree widget item
item->setData(0, Qt::DisplayRole, QVariant(messageInfo[msgid].fields[fieldid].name));
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bool msgFound = false;
QMap<int, mavlink_message_t* >::const_iterator iteMsg = uasMessageStorage.find(sysid);
mavlink_message_t* uasMessage = iteMsg.value();
while((iteMsg != uasMessageStorage.end()) && (iteMsg.key() == sysid))
{
if (iteMsg.value()->msgid == msgid)
{
msgFound = true;
uasMessage = iteMsg.value();
break;
}
++iteMsg;
}
if (!msgFound)
{
return;
}
uint8_t* m = ((uint8_t*)uasMessage)+8;
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switch (messageInfo[msgid].fields[fieldid].type)
{
case MAVLINK_TYPE_CHAR:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0';
QString string(str);
item->setData(2, Qt::DisplayRole, "char");
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single char
char b = *((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, b);
}
break;
case MAVLINK_TYPE_UINT8_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset;
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
uint8_t u = *(m+messageInfo[msgid].fields[fieldid].wire_offset);
item->setData(2, Qt::DisplayRole, "uint8_t");
item->setData(1, Qt::DisplayRole, u);
}
break;
case MAVLINK_TYPE_INT8_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int8_t n = *((int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int8_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_UINT16_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
uint16_t n = *((uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "uint16_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_INT16_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int16_t n = *((int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int16_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_UINT32_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
float n = *((uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "uint32_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_INT32_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int32_t n = *((int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int32_t");
item->setData(1, Qt::DisplayRole, n);
}
break;
case MAVLINK_TYPE_FLOAT:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
}
item->setData(2, Qt::DisplayRole, QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
float f = *((float*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "float");
item->setData(1, Qt::DisplayRole, f);
}
break;
case MAVLINK_TYPE_DOUBLE:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
double f = *((double*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "double");
item->setData(1, Qt::DisplayRole, f);
}
break;
case MAVLINK_TYPE_UINT64_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
uint64_t n = *((uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "uint64_t");
}
break;
case MAVLINK_TYPE_INT64_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
string += tmp.arg(nums[j]);
}
item->setData(2, Qt::DisplayRole, QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
int64_t n = *((int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
item->setData(2, Qt::DisplayRole, "int64_t");