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Commit 0064bb76 authored by Gus Grubba's avatar Gus Grubba
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Merge pull request #2733 from dogmaphobic/wifibridgeStatus 

Adding (optional) link status data to the WiFi Bridge panel.
parents 7c360bc9 0af5efd4
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Showing with 355 additions and 76 deletions
src/AutoPilotPlugins/Common/ESP8266Component.qml
View file @ 0064bb76
......@@ -24,6 +24,7 @@
import QtQuick 2.5
import QtQuick.Controls 1.2
import QtQuick.Dialogs 1.2
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
......@@ -42,12 +43,70 @@ QGCView {
property int _firstColumn: ScreenTools.defaultFontPixelWidth * 20
property int _secondColumn: ScreenTools.defaultFontPixelWidth * 12
readonly property string dialogTitle: "controller WiFi Bridge"
property int stStatus: XMLHttpRequest.UNSENT
property int stErrorCount: 0
property bool stEnabled: false
property bool stResetCounters: false
ESP8266ComponentController {
id: controller
factPanel: panel
}
Timer {
id: timer
}
function thisThingHasNoNumberLocaleSupport(n) {
return n.toString().replace(/\B(?=(\d{3})+(?!\d))/g, ",").replace(",,", ",")
}
function updateStatus() {
timer.stop()
var req = new XMLHttpRequest;
var url = "http://192.168.4.1/status.json"
if(stResetCounters) {
url = url + "?r=1"
stResetCounters = false
}
req.open("GET", url);
req.onreadystatechange = function() {
stStatus = req.readyState;
if (stStatus === XMLHttpRequest.DONE) {
var objectArray = JSON.parse(req.responseText);
if (objectArray.errors !== undefined) {
console.log("Error fetching WiFi Bridge Status: " + objectArray.errors[0].message)
stErrorCount = stErrorCount + 1
if(stErrorCount < 2 && stEnabled)
timer.start()
} else {
if(stEnabled) {
//-- This should work but it doesn't
// var n = 34523453.345
// n.toLocaleString()
// "34,523,453.345"
vpackets.text = thisThingHasNoNumberLocaleSupport(objectArray["vpackets"])
vsent.text = thisThingHasNoNumberLocaleSupport(objectArray["vsent"])
vlost.text = thisThingHasNoNumberLocaleSupport(objectArray["vlost"])
gpackets.text = thisThingHasNoNumberLocaleSupport(objectArray["gpackets"])
gsent.text = thisThingHasNoNumberLocaleSupport(objectArray["gsent"])
glost.text = thisThingHasNoNumberLocaleSupport(objectArray["glost"])
stErrorCount = 0
wifiStatus.visible = true
timer.start()
}
}
}
}
req.send()
}
Component.onCompleted: {
timer.interval = 1000
timer.repeat = true
timer.triggered.connect(updateStatus)
}
property Fact wifiChannel: controller.getParameterFact(controller.componentID, "WIFI_CHANNEL")
property Fact hostPort: controller.getParameterFact(controller.componentID, "WIFI_UDP_HPORT")
property Fact clientPort: controller.getParameterFact(controller.componentID, "WIFI_UDP_CPORT")
......@@ -76,13 +135,19 @@ QGCView {
Rectangle {
width: parent.width
height: wifiCol.height + (ScreenTools.defaultFontPixelHeight * 2)
height: wifiStatus.visible ? Math.max(wifiCol.height, wifiStatus.height) + (ScreenTools.defaultFontPixelHeight * 2) : wifiCol.height + (ScreenTools.defaultFontPixelHeight * 2)
color: palette.windowShade
Row {
anchors.verticalCenter: parent.verticalCenter
spacing: ScreenTools.defaultFontPixelWidth
Rectangle {
height: parent.height
width: 1
color: palette.window
}
Column {
id: wifiCol
anchors.margins: ScreenTools.defaultFontPixelHeight / 2
anchors.verticalCenter: parent.verticalCenter
anchors.left: parent.left
spacing: ScreenTools.defaultFontPixelHeight / 2
Row {
spacing: ScreenTools.defaultFontPixelWidth
......@@ -171,6 +236,131 @@ QGCView {
}
}
}
Rectangle {
height: parent.height
width: 1
color: palette.text
visible: wifiStatus.visible
}
Column {
id: wifiStatus
anchors.margins: ScreenTools.defaultFontPixelHeight / 2
spacing: ScreenTools.defaultFontPixelHeight / 2
visible: false
QGCLabel {
text: "Bridge/Vehicle Link"
font.weight: Font.DemiBold
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: "Messages Received"
width: _firstColumn
}
QGCLabel {
id: vpackets
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: "Messages Lost"
width: _firstColumn
}
QGCLabel {
id: vlost
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: "Messages Sent"
width: _firstColumn
}
QGCLabel {
id: vsent
}
}
Rectangle {
height: 1
width: parent.width
color: palette.text
}
QGCLabel {
text: "Bridge/QGC Link"
font.weight: Font.DemiBold
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: "Messages Received"
width: _firstColumn
}
QGCLabel {
id: gpackets
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: "Messages Lost"
width: _firstColumn
}
QGCLabel {
id: glost
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: "Messages Sent"
width: _firstColumn
}
QGCLabel {
id: gsent
}
}
Rectangle {
height: 1
width: parent.width
color: palette.text
}
QGCLabel {
text: "QGC/Bridge Link"
font.weight: Font.DemiBold
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: "Messages Received"
width: _firstColumn
}
QGCLabel {
text: controller.vehicle ? thisThingHasNoNumberLocaleSupport(controller.vehicle.messagesReceived) : 0
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: "Messages Lost"
width: _firstColumn
}
QGCLabel {
text: controller.vehicle ? thisThingHasNoNumberLocaleSupport(controller.vehicle.messagesLost) : 0
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: "Messages Sent"
width: _firstColumn
}
QGCLabel {
text: controller.vehicle ? thisThingHasNoNumberLocaleSupport(controller.vehicle.messagesSent) : 0
}
}
}
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth * 1.5
......@@ -204,6 +394,31 @@ QGCView {
}
}
}
QGCButton {
text: stEnabled ? "Hide Status" : "Show Status"
width: ScreenTools.defaultFontPixelWidth * 16
onClicked: {
stEnabled = !stEnabled
if(stEnabled)
updateStatus()
else {
wifiStatus.visible = false
timer.stop()
}
}
}
QGCButton {
text: "Reset Counters"
visible: stEnabled
enabled: stEnabled
width: ScreenTools.defaultFontPixelWidth * 16
onClicked: {
stResetCounters = true;
updateStatus()
if(controller.vehicle)
controller.vehicle.resetCounters()
}
}
}
}
}
......
src/AutoPilotPlugins/Common/ESP8266ComponentController.h
View file @ 0064bb76
......@@ -58,9 +58,10 @@ public:
Q_PROPERTY(QStringList baudRates READ baudRates CONSTANT)
Q_PROPERTY(int baudIndex READ baudIndex WRITE setBaudIndex NOTIFY baudIndexChanged)
Q_PROPERTY(bool busy READ busy NOTIFY busyChanged)
Q_PROPERTY(Vehicle* vehicle READ vehicle CONSTANT)
Q_INVOKABLE void restoreDefaults();
Q_INVOKABLE void reboot();
Q_INVOKABLE void reboot ();
int componentID () { return MAV_COMP_ID_UDP_BRIDGE; }
QString version ();
......@@ -70,6 +71,7 @@ public:
QStringList baudRates () { return _baudRates; }
int baudIndex ();
bool busy () { return _waitType != WAIT_FOR_NOTHING; }
Vehicle* vehicle () { return _vehicle; }
void setWifiSSID (QString id);
void setWifiPassword (QString pwd);
......
src/Vehicle/Vehicle.cc
View file @ 0064bb76
......@@ -111,6 +111,12 @@ Vehicle::Vehicle(LinkInterface* link,
, _joystickManager(joystickManager)
, _flowImageIndex(0)
, _allLinksInactiveSent(false)
, _messagesReceived(0)
, _messagesSent(0)
, _messagesLost(0)
, _messageSeq(0)
, _compID(0)
, _heardFrom(false)
{
_addLink(link);
......@@ -215,6 +221,16 @@ Vehicle::~Vehicle()
}
void
Vehicle::resetCounters()
{
_messagesReceived = 0;
_messagesSent = 0;
_messagesLost = 0;
_messageSeq = 0;
_heardFrom = false;
}
void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
if (message.sysid != _id && message.sysid != 0) {
......@@ -225,6 +241,32 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
_addLink(link);
}
//-- Check link status
_messagesReceived++;
emit messagesReceivedChanged();
if(!_heardFrom) {
if(message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
_heardFrom = true;
_compID = message.compid;
_messageSeq = message.seq + 1;
}
} else {
if(_compID == message.compid) {
uint16_t seq_received = (uint16_t)message.seq;
uint16_t packet_lost_count = 0;
//-- Account for overflow during packet loss
if(seq_received < _messageSeq) {
packet_lost_count = (seq_received + 255) - _messageSeq;
} else {
packet_lost_count = seq_received - _messageSeq;
}
_messageSeq = message.seq + 1;
_messagesLost += packet_lost_count;
if(packet_lost_count)
emit messagesLostChanged();
}
}
// Give the plugin a change to adjust the message contents
_firmwarePlugin->adjustMavlinkMessage(this, &message);
......@@ -471,6 +513,8 @@ void Vehicle::_sendMessageOnLink(LinkInterface* link, mavlink_message_t message)
int len = mavlink_msg_to_send_buffer(buffer, &message);
link->writeBytes((const char*)buffer, len);
_messagesSent++;
emit messagesSentChanged();
}
void Vehicle::_sendMessage(mavlink_message_t message)
......@@ -1269,8 +1313,8 @@ void Vehicle::_connectionLostTimeout(void)
{
if (_connectionLostEnabled && !_connectionLost) {
_connectionLost = true;
_heardFrom = false;
emit connectionLostChanged(true);
_say(QString("connection lost to vehicle %1").arg(id()), GAudioOutput::AUDIO_SEVERITY_NOTICE);
}
}
......@@ -1278,11 +1322,9 @@ void Vehicle::_connectionLostTimeout(void)
void Vehicle::_connectionActive(void)
{
_connectionLostTimer.start();
if (_connectionLost) {
_connectionLost = false;
emit connectionLostChanged(false);
_say(QString("connection regained to vehicle %1").arg(id()), GAudioOutput::AUDIO_SEVERITY_NOTICE);
}
}
......
src/Vehicle/Vehicle.h
View file @ 0064bb76
......@@ -119,6 +119,12 @@ public:
Q_PROPERTY(bool genericFirmware READ genericFirmware CONSTANT)
Q_PROPERTY(bool connectionLost READ connectionLost NOTIFY connectionLostChanged)
Q_PROPERTY(bool connectionLostEnabled READ connectionLostEnabled WRITE setConnectionLostEnabled NOTIFY connectionLostEnabledChanged)
Q_PROPERTY(uint messagesReceived READ messagesReceived NOTIFY messagesReceivedChanged)
Q_PROPERTY(uint messagesSent READ messagesSent NOTIFY messagesSentChanged)
Q_PROPERTY(uint messagesLost READ messagesLost NOTIFY messagesLostChanged)
/// Resets link status counters
Q_INVOKABLE void resetCounters ();
/// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
/// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
......@@ -275,6 +281,9 @@ public:
bool genericFirmware () { return !px4Firmware() && !apmFirmware(); }
bool connectionLost () const { return _connectionLost; }
bool connectionLostEnabled() const { return _connectionLostEnabled; }
uint messagesReceived () { return _messagesReceived; }
uint messagesSent () { return _messagesSent; }
uint messagesLost () { return _messagesLost; }
void setConnectionLostEnabled(bool connectionLostEnabled);
......@@ -305,6 +314,10 @@ signals:
void connectionLostChanged(bool connectionLost);
void connectionLostEnabledChanged(bool connectionLostEnabled);
void messagesReceivedChanged ();
void messagesSentChanged ();
void messagesLostChanged ();
/// Used internally to move sendMessage call to main thread
void _sendMessageOnThread(mavlink_message_t message);
void _sendMessageOnLinkOnThread(LinkInterface* link, mavlink_message_t message);
......@@ -506,6 +519,13 @@ private:
bool _allLinksInactiveSent; ///< true: allLinkInactive signal already sent one time
uint _messagesReceived;
uint _messagesSent;
uint _messagesLost;
uint8_t _messageSeq;
uint8_t _compID;
bool _heardFrom;
// Settings keys
static const char* _settingsGroup;
static const char* _joystickModeSettingsKey;
......
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