Remove stale code

src/ui/CMakeLists.txt

@@ -18,7 +18,6 @@ add_library(ui
 	QGCHilJSBSimConfiguration.cc
 	QGCHilXPlaneConfiguration.cc
 	QGCMapRCToParamDialog.cpp
-	QGCMAVLinkInspector.cc
 	QGCMAVLinkLogPlayer.cc
 	QGCPluginHost.cc
 	QGCUASFileView.cc
@@ -39,7 +38,6 @@ add_library(ui
 	QGCHilJSBSimConfiguration.ui
 	QGCHilXPlaneConfiguration.ui
 	QGCMapRCToParamDialog.ui
-	QGCMAVLinkInspector.ui
 	QGCMAVLinkLogPlayer.ui
 	QGCPluginHost.ui
 	QGCUASFileView.ui

src/ui/QGCMAVLinkInspector.cc

-#include "QGCMAVLink.h"
-#include "QGCMAVLinkInspector.h"
-#include "MultiVehicleManager.h"
-#include "UAS.h"
-#include "QGCApplication.h"
-
-#include "ui_QGCMAVLinkInspector.h"
-
-#include <QList>
-#include <QDebug>
-
-const float QGCMAVLinkInspector::updateHzLowpass = 0.2f;
-const unsigned int QGCMAVLinkInspector::updateInterval = 1000U;
-
-QGCMAVLinkInspector::QGCMAVLinkInspector(const QString& title, QAction* action, MAVLinkProtocol* protocol, QWidget *parent) :
-    QGCDockWidget(title, action, parent),
-    _protocol(protocol),
-    selectedSystemID(0),
-    selectedComponentID(0),
-    ui(new Ui::QGCMAVLinkInspector)
-{
-    ui->setupUi(this);
-
-    // Make sure "All" is an option for both the system and components
-    ui->systemComboBox->addItem(tr("All"), 0);
-    ui->componentComboBox->addItem(tr("All"), 0);
-
-    // Set up the column headers for the message listing
-    QStringList header;
-    header << tr("Name");
-    header << tr("Value");
-    header << tr("Type");
-    ui->treeWidget->setHeaderLabels(header);
-
-    // Connect the UI
-    connect(ui->systemComboBox, static_cast<void (QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
-            this, &QGCMAVLinkInspector::selectDropDownMenuSystem);
-    connect(ui->componentComboBox, static_cast<void (QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
-            this, &QGCMAVLinkInspector::selectDropDownMenuComponent);
-
-    connect(ui->clearButton, &QPushButton::clicked, this, &QGCMAVLinkInspector::clearView);
-
-    MultiVehicleManager* multiVehicleManager = qgcApp()->toolbox()->multiVehicleManager();
-    connect(multiVehicleManager,    &MultiVehicleManager::vehicleAdded,     this, &QGCMAVLinkInspector::_vehicleAdded);
-    connect(multiVehicleManager,    &MultiVehicleManager::vehicleRemoved,   this, &QGCMAVLinkInspector::_vehicleRemoved);
-    connect(protocol,               &MAVLinkProtocol::messageReceived,      this, &QGCMAVLinkInspector::receiveMessage);
-
-    // Attach the UI's refresh rate to a timer.
-    connect(&updateTimer, &QTimer::timeout, this, &QGCMAVLinkInspector::refreshView);
-    updateTimer.start(updateInterval);
-    
-    loadSettings();
-}
-
-void QGCMAVLinkInspector::_vehicleAdded(Vehicle* vehicle)
-{
-    ui->systemComboBox->addItem(tr("Vehicle %1").arg(vehicle->id()), vehicle->id());
-
-    // Add a tree for a new UAS
-    addVehicleToTree(vehicle->id());
-}
-
-void QGCMAVLinkInspector::_vehicleRemoved(Vehicle* vehicle)
-{
-    removeVehicleFromTree(vehicle->id());
-}
-
-void QGCMAVLinkInspector::selectDropDownMenuSystem(int dropdownid)
-{
-    selectedSystemID = ui->systemComboBox->itemData(dropdownid).toInt();
-    rebuildComponentList();
-}
-
-void QGCMAVLinkInspector::selectDropDownMenuComponent(int dropdownid)
-{
-    selectedComponentID = ui->componentComboBox->itemData(dropdownid).toInt();
-}
-
-void QGCMAVLinkInspector::rebuildComponentList()
-{
-    ui->componentComboBox->clear();
-    components.clear();
-
-    ui->componentComboBox->addItem(tr("All"), 0);
-
-    // Fill
-    Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->getVehicleById(selectedSystemID);
-    if (vehicle)
-    {
-        UASInterface* uas = vehicle->uas();
-        QMap<int, QString> components = uas->getComponents();
-        for (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();
-}
-
-/**
- * Reset the view. This entails clearing all data structures and resetting data from already-
- * received messages.
- */
-void QGCMAVLinkInspector::clearView()
-{
-    QMap<int, mavlink_message_t* >::iterator ite;
-    for(ite=uasMessageStorage.begin(); ite!=uasMessageStorage.end();++ite)
-    {
-        delete ite.value();
-        ite.value() = NULL;
-    }
-    uasMessageStorage.clear();
-
-    QMap<int, QMap<int, QTreeWidgetItem*>* >::iterator iteMsg;
-    for (iteMsg=uasMsgTreeItems.begin(); iteMsg!=uasMsgTreeItems.end();++iteMsg)
-    {
-        QMap<int, QTreeWidgetItem*>* msgTreeItems = iteMsg.value();
-
-        QList<int> groupKeys = msgTreeItems->uniqueKeys();
-        QList<int>::iterator listKeys;
-        for (listKeys=groupKeys.begin();listKeys!=groupKeys.end();++listKeys)
-        {
-            delete msgTreeItems->take(*listKeys);
-        }
-    }
-    uasMsgTreeItems.clear();
-
-    QMap<int, QTreeWidgetItem* >::iterator iteTree;
-    for(iteTree=uasTreeWidgetItems.begin(); iteTree!=uasTreeWidgetItems.end();++iteTree)
-    {
-        delete iteTree.value();
-        iteTree.value() = NULL;
-    }
-    uasTreeWidgetItems.clear();
-    
-    QMap<int, QMap<int, float>* >::iterator iteHz;
-    for (iteHz=uasMessageHz.begin(); iteHz!=uasMessageHz.end();++iteHz)
-    {
-
-        iteHz.value()->clear();
-        delete iteHz.value();
-        iteHz.value() = NULL;
-    }
-    uasMessageHz.clear();
-
-    QMap<int, QMap<int, unsigned int>* >::iterator iteCount;
-    for(iteCount=uasMessageCount.begin(); iteCount!=uasMessageCount.end();++iteCount)
-    {
-        iteCount.value()->clear();
-        delete iteCount.value();
-        iteCount.value() = NULL;
-    }
-    uasMessageCount.clear();
-
-    QMap<int, QMap<int, quint64>* >::iterator iteLast;
-    for(iteLast=uasLastMessageUpdate.begin(); iteLast!=uasLastMessageUpdate.end();++iteLast)
-    {
-        iteLast.value()->clear();
-        delete iteLast.value();
-        iteLast.value() = NULL;
-    }
-    uasLastMessageUpdate.clear();
-
-    ui->treeWidget->clear();
-}
-
-void QGCMAVLinkInspector::refreshView()
-{
-    QMap<int, mavlink_message_t* >::const_iterator ite;
-
-    for(ite=uasMessageStorage.constBegin(); ite!=uasMessageStorage.constEnd();++ite)
-    {
-        mavlink_message_t* msg = ite.value();
-        const mavlink_message_info_t* msgInfo = mavlink_get_message_info(msg);
-
-        if (!msgInfo) {
-            qWarning() << QStringLiteral("QGCMAVLinkInspector::refreshView NULL msgInfo msgid(%1)").arg(msg->msgid);
-            continue;
-        }
-
-        // Ignore NULL values
-        if (msg->msgid == 0xFF) continue;
-
-        // Update the message frenquency
-
-        // 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();
-
-        while((iteHz != uasMessageHz.end()) && (iteHz.key() == msg->sysid))
-        {
-            if(iteHz.value()->contains(msg->msgid))
-            {
-                uasMsgHz = iteHz.value();
-                msgHz = iteHz.value()->value(msg->msgid);
-                break;
-            }
-            ++iteHz;
-        }
-
-        // 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))
-            {
-                msgCount = (float) iter.value()->value(msg->msgid);
-                uasMsgCount = iter.value();
-                break;
-            }
-            ++iter;
-        }
-
-        // 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);
-
-        // Update the tree view
-        QString messageName("%1 (%2 Hz, #%3)");
-        messageName = messageName.arg(msgInfo->name).arg(msgHz, 3, 'f', 1).arg(msg->msgid);
-
-        addVehicleToTree(msg->sysid);
-
-        // 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;
-        }
-
-        // 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 < msgInfo->num_fields; ++i)
-            {
-                QTreeWidgetItem* field = new QTreeWidgetItem();
-                widget->addChild(field);
-            }
-            msgTreeItems->insert(msg->msgid,widget);
-            QList<int> groupKeys = msgTreeItems->uniqueKeys();
-            int insertIndex = groupKeys.indexOf(msg->msgid);
-            uasTreeWidgetItems.value(msg->sysid)->insertChild(insertIndex,widget);
-        }
-
-        // 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 < msgInfo->num_fields; ++i)
-            {
-                updateField(msg, msgInfo, i, message->child(i));
-            }
-        }
-    }
-}
-
-void QGCMAVLinkInspector::addVehicleToTree(int vehicleId)
-{
-    if (!uasTreeWidgetItems.contains(vehicleId)) {
-        QStringList idstring;
-        idstring << tr("Vehicle %1").arg(vehicleId);
-        QTreeWidgetItem* uasWidget = new QTreeWidgetItem(idstring);
-        uasWidget->setFirstColumnSpanned(true);
-        uasTreeWidgetItems.insert(vehicleId, uasWidget);
-        ui->treeWidget->addTopLevelItem(uasWidget);
-        uasMsgTreeItems.insert(vehicleId, new QMap<int, QTreeWidgetItem*>());
-    }
-}
-
-void QGCMAVLinkInspector::removeVehicleFromTree(int vehicleId)
-{
-    Q_UNUSED(vehicleId);
-
-    // This doesn't work with multi-vehicle. But this code is so screwed up and crufty it's not worth the effort making that work.
-    // Especially since mult-vehicle support here has been broken for ages. Better to at least get single vehicle working.
-    clearView();
-}
-
-void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t message)
-{
-    Q_UNUSED(link);
-
-    quint64 receiveTime;
-    
-    if (selectedSystemID != 0 && selectedSystemID != message.sysid) return;
-    if (selectedComponentID != 0 && selectedComponentID != message.compid) return;
-
-    // Create dynamically an array to store the messages for each UAS
-    if (!uasMessageStorage.contains(message.sysid))
-    {
-        mavlink_message_t* msg = new mavlink_message_t;
-        *msg = message;
-        uasMessageStorage.insertMulti(message.sysid,msg);
-    }
-
-    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
-    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;
-    }
-
-    receiveTime = QGC::groundTimeMilliseconds();
-
-    // If the message doesn't exist, create a map for the frequency, message count and time of reception
-    if(!msgFound)
-    {
-        // 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;
-    }
-    else
-    {
-        // The message has been found/created
-        if ((lastMsgUpdate->contains(message.msgid))&&(uasMessageCount.contains(message.sysid)))
-        {
-            // 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))
-            {
-                if(iter.value()->contains(message.msgid))
-                {
-                    uasMsgCount = iter.value();
-                    count = uasMsgCount->value(message.msgid,0);
-                    uasMsgCount->insert(message.msgid,count+1);
-                    break;
-                }
-                ++iter;
-            }
-        }
-        lastMsgUpdate->insert(message.msgid,receiveTime);
-    }
-
-}
-
-QGCMAVLinkInspector::~QGCMAVLinkInspector()
-{
-    clearView();
-    delete ui;
-}
-
-void QGCMAVLinkInspector::updateField(mavlink_message_t* msg, const mavlink_message_info_t* msgInfo, int fieldid, QTreeWidgetItem* item)
-{
-    // Add field tree widget item
-    item->setData(0, Qt::DisplayRole, QVariant(msgInfo->fields[fieldid].name));
-    
-    bool msgFound = false;
-    QMap<int, mavlink_message_t* >::const_iterator iteMsg = uasMessageStorage.find(msg->sysid);
-    mavlink_message_t* uasMessage = iteMsg.value();
-    while((iteMsg != uasMessageStorage.end()) && (iteMsg.key() == msg->sysid))
-    {
-        if (iteMsg.value()->msgid == msg->msgid)
-        {
-            msgFound = true;
-            uasMessage = iteMsg.value();
-            break;
-        }
-        ++iteMsg;
-    }
-
-    if (!msgFound)
-    {
-        return;
-    }
-
-    uint8_t* m = (uint8_t*)&uasMessage->payload64[0];
-
-    switch (msgInfo->fields[fieldid].type)
-    {
-    case MAVLINK_TYPE_CHAR:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            char* str = (char*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            str[msgInfo->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+msgInfo->fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, QString("char[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, b);
-        }
-        break;
-    case MAVLINK_TYPE_UINT8_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            uint8_t* nums = m+msgInfo->fields[fieldid].wire_offset;
-            // Enforce null termination
-            QString tmp("%1, ");
-            QString string;
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                string += tmp.arg(nums[j]);
-            }
-            item->setData(2, Qt::DisplayRole, QString("uint8_t[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, string);
-        }
-        else
-        {
-            // Single value
-            uint8_t u = *(m+msgInfo->fields[fieldid].wire_offset);
-            item->setData(2, Qt::DisplayRole, "uint8_t");
-            item->setData(1, Qt::DisplayRole, u);
-        }
-        break;
-    case MAVLINK_TYPE_INT8_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            int8_t* nums = (int8_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            QString tmp("%1, ");
-            QString string;
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                string += tmp.arg(nums[j]);
-            }
-            item->setData(2, Qt::DisplayRole, QString("int8_t[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, string);
-        }
-        else
-        {
-            // Single value
-            int8_t n = *((int8_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, "int8_t");
-            item->setData(1, Qt::DisplayRole, n);
-        }
-        break;
-    case MAVLINK_TYPE_UINT16_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            uint16_t* nums = (uint16_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            QString tmp("%1, ");
-            QString string;
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                string += tmp.arg(nums[j]);
-            }
-            item->setData(2, Qt::DisplayRole, QString("uint16_t[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, string);
-        }
-        else
-        {
-            // Single value
-            uint16_t n = *((uint16_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, "uint16_t");
-            item->setData(1, Qt::DisplayRole, n);
-        }
-        break;
-    case MAVLINK_TYPE_INT16_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            int16_t* nums = (int16_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            QString tmp("%1, ");
-            QString string;
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                string += tmp.arg(nums[j]);
-            }
-            item->setData(2, Qt::DisplayRole, QString("int16_t[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, string);
-        }
-        else
-        {
-            // Single value
-            int16_t n = *((int16_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, "int16_t");
-            item->setData(1, Qt::DisplayRole, n);
-        }
-        break;
-    case MAVLINK_TYPE_UINT32_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            uint32_t* nums = (uint32_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            QString tmp("%1, ");
-            QString string;
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                string += tmp.arg(nums[j]);
-            }
-            item->setData(2, Qt::DisplayRole, QString("uint32_t[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, string);
-        }
-        else
-        {
-            // Single value
-            float n = *((uint32_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, "uint32_t");
-            item->setData(1, Qt::DisplayRole, n);
-        }
-        break;
-    case MAVLINK_TYPE_INT32_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            int32_t* nums = (int32_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            QString tmp("%1, ");
-            QString string;
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                string += tmp.arg(nums[j]);
-            }
-            item->setData(2, Qt::DisplayRole, QString("int32_t[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, string);
-        }
-        else
-        {
-            // Single value
-            int32_t n = *((int32_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, "int32_t");
-            item->setData(1, Qt::DisplayRole, n);
-        }
-        break;
-    case MAVLINK_TYPE_FLOAT:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            float* nums = (float*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            QString tmp("%1, ");
-            QString string;
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-               string += tmp.arg(nums[j]);
-            }
-            item->setData(2, Qt::DisplayRole, QString("float[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, string);
-        }
-        else
-        {
-            // Single value
-            float f = *((float*)(m+msgInfo->fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, "float");
-            item->setData(1, Qt::DisplayRole, f);
-        }
-        break;
-    case MAVLINK_TYPE_DOUBLE:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            double* nums = (double*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            QString tmp("%1, ");
-            QString string;
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                string += tmp.arg(nums[j]);
-            }
-            item->setData(2, Qt::DisplayRole, QString("double[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, string);
-        }
-        else
-        {
-            // Single value
-            double f = *((double*)(m+msgInfo->fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, "double");
-            item->setData(1, Qt::DisplayRole, f);
-        }
-        break;
-    case MAVLINK_TYPE_UINT64_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            uint64_t* nums = (uint64_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            QString tmp("%1, ");
-            QString string;
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                string += tmp.arg(nums[j]);
-            }
-            item->setData(2, Qt::DisplayRole, QString("uint64_t[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, string);
-        }
-        else
-        {
-            // Single value
-            uint64_t n = *((uint64_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, "uint64_t");
-            item->setData(1, Qt::DisplayRole, (quint64) n);
-        }
-        break;
-    case MAVLINK_TYPE_INT64_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            int64_t* nums = (int64_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            QString tmp("%1, ");
-            QString string;
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                string += tmp.arg(nums[j]);
-            }
-            item->setData(2, Qt::DisplayRole, QString("int64_t[%1]").arg(msgInfo->fields[fieldid].array_length));
-            item->setData(1, Qt::DisplayRole, string);
-        }
-        else
-        {
-            // Single value
-            int64_t n = *((int64_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, "int64_t");
-            item->setData(1, Qt::DisplayRole, (qint64) n);
-        }
-        break;
-    }
-}

src/ui/QGCMAVLinkInspector.h

-#pragma once
-
-#include <QMap>
-#include <QTimer>
-
-#include "QGCDockWidget.h"
-#include "MAVLinkProtocol.h"
-#include "Vehicle.h"
-
-namespace Ui {
-    class QGCMAVLinkInspector;
-}
-
-class QTreeWidgetItem;
-class UASInterface;
-
-class QGCMAVLinkInspector : public QGCDockWidget
-{
-    Q_OBJECT
-
-public:
-    explicit QGCMAVLinkInspector(const QString& title, QAction* action, MAVLinkProtocol* protocol, QWidget *parent = 0);
-    ~QGCMAVLinkInspector();
-
-public slots:
-    void receiveMessage(LinkInterface* link,mavlink_message_t message);
-    /** @brief Clear all messages */
-    void clearView();
-    /** @brief Update view */
-    void refreshView();
-    /** @brief Add component to the list */
-    void addComponent(int uas, int component, const QString& name);
-    /** @Brief Select a system through the drop down menu */
-    void selectDropDownMenuSystem(int dropdownid);
-    /** @Brief Select a component through the drop down menu */
-    void selectDropDownMenuComponent(int dropdownid);
-
-protected:
-    MAVLinkProtocol *_protocol;     ///< MAVLink instance
-    int selectedSystemID;          ///< Currently selected system
-    int selectedComponentID;       ///< Currently selected component
-    QMap<int, int> components; ///< Already observed components
-    QTimer updateTimer; ///< Only update at 1 Hz to not overload the GUI
-
-    QMap<int, QTreeWidgetItem* > uasTreeWidgetItems; ///< Tree of available uas with their widget
-    QMap<int, QMap<int, QTreeWidgetItem*>* > uasMsgTreeItems; ///< Stores the widget of the received message for each UAS
-
-    QMap<int, mavlink_message_t* > uasMessageStorage; ///< Stores the messages for every UAS
-
-    QMap<int, QMap<int, float>* > uasMessageHz; ///< Stores the frequency of each message of each UAS
-    QMap<int, QMap<int, unsigned int>* > uasMessageCount; ///< Stores the message count of each message of each UAS
-
-    QMap<int, QMap<int, quint64>* > uasLastMessageUpdate; ///< Stores the time of the last message for each message of each UAS
-
-    void updateField(mavlink_message_t* msg, const mavlink_message_info_t* msgInfo, int fieldid, QTreeWidgetItem* item);
-    void rebuildComponentList();
-    void addVehicleToTree(int vehicleId);
-    void removeVehicleFromTree(int vehicleId);
-
-    static const unsigned int updateInterval; ///< The update interval of the refresh function
-    static const float updateHzLowpass; ///< The low-pass filter value for the frequency of each message
-    
-private slots:
-    void _vehicleAdded  (Vehicle* vehicle);
-    void _vehicleRemoved(Vehicle* vehicle);
-
-private:
-    Ui::QGCMAVLinkInspector *ui;
-};
-

src/ui/QGCMAVLinkInspector.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>QGCMAVLinkInspector</class>
- <widget class="QWidget" name="QGCMAVLinkInspector">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>658</width>
-    <height>300</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>MAVLink Inspector</string>
-  </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="2,0,0,0,0">
-   <property name="leftMargin">
-    <number>6</number>
-   </property>
-   <property name="topMargin">
-    <number>6</number>
-   </property>
-   <property name="rightMargin">
-    <number>6</number>
-   </property>
-   <property name="bottomMargin">
-    <number>6</number>
-   </property>
-   <item row="0" column="0">
-    <widget class="QLabel" name="label">
-     <property name="maximumSize">
-      <size>
-       <width>100</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>System</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="1">
-    <widget class="QComboBox" name="systemComboBox"/>
-   </item>
-   <item row="0" column="3">
-    <widget class="QComboBox" name="componentComboBox"/>
-   </item>
-   <item row="0" column="2">
-    <widget class="QLabel" name="label_2">
-     <property name="text">
-      <string>Component</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="4">
-    <widget class="QPushButton" name="clearButton">
-     <property name="text">
-      <string>Clear</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="0" colspan="5">
-    <widget class="QTreeWidget" name="treeWidget">
-     <column>
-      <property name="text">
-       <string notr="true">1</string>
-      </property>
-     </column>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>