Merge pull request #6847 from mavlink/mavlinkStatus

MAVLink Status

src/Vehicle/Vehicle.cc

@@ -202,7 +202,8 @@ Vehicle::Vehicle(LinkInterface*             link,
 
     _mavlink = _toolbox->mavlinkProtocol();
 
-    connect(_mavlink, &MAVLinkProtocol::messageReceived,     this, &Vehicle::_mavlinkMessageReceived);
+    connect(_mavlink, &MAVLinkProtocol::messageReceived,        this, &Vehicle::_mavlinkMessageReceived);
+    connect(_mavlink, &MAVLinkProtocol::mavlinkMessageStatus,   this, &Vehicle::_mavlinkMessageStatus);
 
     _addLink(link);
 
@@ -3594,6 +3595,17 @@ void Vehicle::_updateHighLatencyLink(bool sendCommand)
     }
 }
 
+void Vehicle::_mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent)
+{
+    if(uasId == _id) {
+        _mavlinkSentCount       = totalSent;
+        _mavlinkReceivedCount   = totalReceived;
+        _mavlinkLossCount       = totalLoss;
+        _mavlinkLossPercent     = lossPercent;
+        emit mavlinkStatusChanged();
+    }
+}
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 

src/Vehicle/Vehicle.h

@@ -622,6 +622,10 @@ public:
     Q_PROPERTY(QString              priorityLinkName        READ priorityLinkName       WRITE setPriorityLinkByName     NOTIFY priorityLinkNameChanged)
     Q_PROPERTY(QVariantList         links                   READ links                                                  NOTIFY linksChanged)
     Q_PROPERTY(LinkInterface*       priorityLink            READ priorityLink                                           NOTIFY priorityLinkNameChanged)
+    Q_PROPERTY(quint64              mavlinkSentCount        READ mavlinkSentCount                                       NOTIFY mavlinkStatusChanged)
+    Q_PROPERTY(quint64              mavlinkReceivedCount    READ mavlinkReceivedCount                                   NOTIFY mavlinkStatusChanged)
+    Q_PROPERTY(quint64              mavlinkLossCount        READ mavlinkLossCount                                       NOTIFY mavlinkStatusChanged)
+    Q_PROPERTY(float                mavlinkLossPercent      READ mavlinkLossPercent                                     NOTIFY mavlinkStatusChanged)
 
     // Vehicle state used for guided control
     Q_PROPERTY(bool flying                  READ flying NOTIFY flyingChanged)                               ///< Vehicle is flying
@@ -1044,6 +1048,11 @@ public:
     /// Vehicle is about to be deleted
     void prepareDelete();
 
+    quint64     mavlinkSentCount        () { return _mavlinkSentCount; }        /// Calculated total number of messages sent to us
+    quint64     mavlinkReceivedCount    () { return _mavlinkReceivedCount; }    /// Total number of sucessful messages received
+    quint64     mavlinkLossCount        () { return _mavlinkLossCount; }        /// Total number of lost messages
+    float       mavlinkLossPercent      () { return _mavlinkLossPercent; }      /// Running loss rate
+
 signals:
     void allLinksInactive(Vehicle* vehicle);
     void coordinateChanged(QGeoCoordinate coordinate);
@@ -1147,6 +1156,7 @@ signals:
 
     // MAVLink protocol version
     void requestProtocolVersion(unsigned version);
+    void mavlinkStatusChanged();
 
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
@@ -1179,6 +1189,7 @@ private slots:
     void _updateHobbsMeter(void);
     void _vehicleParamLoaded(bool ready);
     void _sendQGCTimeToVehicle(void);
+    void _mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent);
 
 private:
     bool _containsLink(LinkInterface* link);
@@ -1405,6 +1416,11 @@ private:
     SharedLinkInterfacePointer _priorityLink;  // We always keep a reference to the priority link to manage shutdown ordering
     bool _priorityLinkCommanded;
 
+    uint64_t    _mavlinkSentCount       = 0;
+    uint64_t    _mavlinkReceivedCount   = 0;
+    uint64_t    _mavlinkLossCount       = 0;
+    float       _mavlinkLossPercent     = 0.0f;
+
     // FactGroup facts
 
     Fact _rollFact;

src/comm/MAVLinkProtocol.h

@@ -65,27 +65,6 @@ public:
     unsigned getCurrentVersion() {
         return _current_version;
     }
-    /**
-     * Retrieve a total of all successfully parsed packets for the specified link.
-     * @returns -1 if this is not available for this protocol, # of packets otherwise.
-     */
-    qint32 getReceivedPacketCount(const LinkInterface *link) const {
-        return totalReceiveCounter[link->mavlinkChannel()];
-    }
-    /**
-     * Retrieve a total of all parsing errors for the specified link.
-     * @returns -1 if this is not available for this protocol, # of errors otherwise.
-     */
-    qint32 getParsingErrorCount(const LinkInterface *link) const {
-        return totalErrorCounter[link->mavlinkChannel()];
-    }
-    /**
-     * Retrieve a total of all dropped packets for the specified link.
-     * @returns -1 if this is not available for this protocol, # of packets otherwise.
-     */
-    qint32 getDroppedPacketCount(const LinkInterface *link) const {
-        return totalLossCounter[link->mavlinkChannel()];
-    }
     /**
      * Reset the counters for all metadata for this link.
      */
@@ -122,18 +101,20 @@ public slots:
     void checkForLostLogFiles(void);
 
 protected:
-    bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
-    QMutex receiveMutex;        ///< Mutex to protect receiveBytes function
-    int lastIndex[256][256];    ///< Store the last received sequence ID for each system/componenet pair
-    int totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS];    ///< The total number of successfully received messages
-    int totalLossCounter[MAVLINK_COMM_NUM_BUFFERS];       ///< Total messages lost during transmission.
-    int totalErrorCounter[MAVLINK_COMM_NUM_BUFFERS];      ///< Total count of all parsing errors. Generally <= totalLossCounter.
-    int currReceiveCounter[MAVLINK_COMM_NUM_BUFFERS];     ///< Received messages during this sample time window. Used for calculating loss %.
-    int currLossCounter[MAVLINK_COMM_NUM_BUFFERS];        ///< Lost messages during this sample time window. Used for calculating loss %.
-    bool versionMismatchIgnore;
-    int systemId;
-    unsigned _current_version;
-    unsigned _radio_version_mismatch_count;
+    bool        m_enable_version_check;                         ///< Enable checking of version match of MAV and QGC
+    uint8_t     lastIndex[256][256];                            ///< Store the last received sequence ID for each system/componenet pair
+    uint8_t     firstMessage[256][256];                         ///< First message flag
+    uint64_t    totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS];  ///< The total number of successfully received messages
+    uint64_t    totalLossCounter[MAVLINK_COMM_NUM_BUFFERS];     ///< Total messages lost during transmission.
+    float       runningLossPercent[MAVLINK_COMM_NUM_BUFFERS];   ///< Loss rate
+
+    mavlink_message_t _message = {};
+    mavlink_status_t _status   = {};
+
+    bool        versionMismatchIgnore;
+    int         systemId;
+    unsigned    _current_version;
+    unsigned    _radio_version_mismatch_count;
 
 signals:
     /// Heartbeat received on link
@@ -148,8 +129,7 @@ signals:
     /** @brief Emitted if a new system ID was set */
     void systemIdChanged(int systemId);
 
-    void receiveLossPercentChanged(int uasId, float lossPercent);
-    void receiveLossTotalChanged(int uasId, int totalLoss);
+    void mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent);
 
     /**
      * @brief Emitted if a new radio status packet received

src/comm/ProtocolInterface.h

@@ -16,8 +16,7 @@
  *
  */
 
-#ifndef _PROTOCOLINTERFACE_H_
-#define _PROTOCOLINTERFACE_H_
+#pragma once
 
 #include <QThread>
 #include <QString>
@@ -37,26 +36,8 @@ class ProtocolInterface : public QThread
 {
     Q_OBJECT
 public:
-    virtual ~ProtocolInterface () {}
-    virtual QString getName() = 0;
-    /**
-     * Retrieve a total of all successfully parsed packets for the specified link.
-     * @param link The link to return metadata about.
-     * @returns -1 if this is not available for this protocol, # of packets otherwise.
-     */
-    virtual qint32 getReceivedPacketCount(const LinkInterface *link) const = 0;
-    /**
-     * Retrieve a total of all parsing errors for the specified link.
-     * @param link The link to return metadata about.
-     * @returns -1 if this is not available for this protocol, # of errors otherwise.
-     */
-    virtual qint32 getParsingErrorCount(const LinkInterface *link) const = 0;
-    /**
-     * Retrieve a total of all dropped packets for the specified link.
-     * @param link The link to return metadata about.
-     * @returns -1 if this is not available for this protocol, # of packets otherwise.
-     */
-    virtual qint32 getDroppedPacketCount(const LinkInterface *link) const = 0;
+    virtual ~ProtocolInterface  () {}
+    virtual QString getName     () = 0;
     /**
      * Reset the received, error, and dropped counts for the given link. Useful for
      * when reconnecting a link.
@@ -65,13 +46,11 @@ public:
     virtual void resetMetadataForLink(LinkInterface *link) = 0;
 
 public slots:
-    virtual void receiveBytes(LinkInterface *link, QByteArray b) = 0;
-    virtual void linkStatusChanged(bool connected) = 0;
+    virtual void receiveBytes       (LinkInterface *link, QByteArray b) = 0;
+    virtual void linkStatusChanged  (bool connected) = 0;
 
 signals:
     /** @brief Update the packet loss from one system */
-    void receiveLossChanged(int uasId, float loss);
+    void receiveLossChanged         (int uasId, float loss);
 
 };
-
-#endif // _PROTOCOLINTERFACE_H_

src/ui/preferences/MavlinkSettings.qml

@@ -30,6 +30,7 @@ Rectangle {
     property int  _selectedCount:       0
     property real _columnSpacing:       ScreenTools.defaultFontPixelHeight * 0.25
     property bool _uploadedSelected:    false
+    property var  _activeVehicle:       QGroundControl.multiVehicleManager.activeVehicle
 
     QGCPalette { id: qgcPal }
 
@@ -152,6 +153,92 @@ Rectangle {
                 }
             }
             //-----------------------------------------------------------------
+            //-- Mavlink Status
+            Item {
+                width:              __mavlinkRoot.width * 0.8
+                height:             mavStatusLabel.height
+                anchors.margins:    ScreenTools.defaultFontPixelWidth
+                anchors.horizontalCenter: parent.horizontalCenter
+                QGCLabel {
+                    id:             mavStatusLabel
+                    text:           qsTr("MAVLink Link Status (Current Vehicle)")
+                    font.family:    ScreenTools.demiboldFontFamily
+                }
+            }
+            Rectangle {
+                height:         mavStatusColumn.height + (ScreenTools.defaultFontPixelHeight * 2)
+                width:          __mavlinkRoot.width * 0.8
+                color:          qgcPal.windowShade
+                anchors.margins: ScreenTools.defaultFontPixelWidth
+                anchors.horizontalCenter: parent.horizontalCenter
+                Column {
+                    id:         mavStatusColumn
+                    width:      gcsColumn.width
+                    spacing:    _columnSpacing
+                    anchors.centerIn: parent
+                    //-----------------------------------------------------------------
+                    Row {
+                        spacing:    ScreenTools.defaultFontPixelWidth
+                        anchors.horizontalCenter: parent.horizontalCenter
+                        QGCLabel {
+                            width:              _labelWidth
+                            text:               qsTr("Total messages sent (computed):")
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                        QGCLabel {
+                            width:              _valueWidth
+                            text:               _activeVehicle ? _activeVehicle.mavlinkSentCount : qsTr("Not Connected")
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                    }
+                    //-----------------------------------------------------------------
+                    Row {
+                        spacing:    ScreenTools.defaultFontPixelWidth
+                        anchors.horizontalCenter: parent.horizontalCenter
+                        QGCLabel {
+                            width:              _labelWidth
+                            text:               qsTr("Total messages received:")
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                        QGCLabel {
+                            width:              _valueWidth
+                            text:               _activeVehicle ? _activeVehicle.mavlinkReceivedCount : qsTr("Not Connected")
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                    }
+                    //-----------------------------------------------------------------
+                    Row {
+                        spacing:    ScreenTools.defaultFontPixelWidth
+                        anchors.horizontalCenter: parent.horizontalCenter
+                        QGCLabel {
+                            width:              _labelWidth
+                            text:               qsTr("Total message loss:")
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                        QGCLabel {
+                            width:              _valueWidth
+                            text:               _activeVehicle ? _activeVehicle.mavlinkLossCount : qsTr("Not Connected")
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                    }
+                    //-----------------------------------------------------------------
+                    Row {
+                        spacing:    ScreenTools.defaultFontPixelWidth
+                        anchors.horizontalCenter: parent.horizontalCenter
+                        QGCLabel {
+                            width:              _labelWidth
+                            text:               qsTr("Loss rate:")
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                        QGCLabel {
+                            width:              _valueWidth
+                            text:               _activeVehicle ? _activeVehicle.mavlinkLossPercent.toFixed(0) + '%' : qsTr("Not Connected")
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                    }
+                }
+            }
+            //-----------------------------------------------------------------
             //-- Mavlink Logging
             Item {
                 width:              __mavlinkRoot.width * 0.8