Merge pull request #3179 from DonLakeFlyer/SeqLoss

Show mavlink sequence number packet loss in UI

src/comm/MAVLinkProtocol.cc

@@ -63,7 +63,11 @@ MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app)
     , _linkMgr(NULL)
     , _multiVehicleManager(NULL)
 {
-
+    memset(&totalReceiveCounter, 0, sizeof(totalReceiveCounter));
+    memset(&totalLossCounter, 0, sizeof(totalLossCounter));
+    memset(&totalErrorCounter, 0, sizeof(totalErrorCounter));
+    memset(&currReceiveCounter, 0, sizeof(currReceiveCounter));
+    memset(&currLossCounter, 0, sizeof(currLossCounter));
 }
 
 MAVLinkProtocol::~MAVLinkProtocol()
@@ -357,11 +361,12 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
             {
                 // Calculate new loss ratio
                 // Receive loss
-                float receiveLoss = (double)currLossCounter[mavlinkChannel]/(double)(currReceiveCounter[mavlinkChannel]+currLossCounter[mavlinkChannel]);
-                receiveLoss *= 100.0f;
+                float receiveLossPercent = (double)currLossCounter[mavlinkChannel]/(double)(currReceiveCounter[mavlinkChannel]+currLossCounter[mavlinkChannel]);
+                receiveLossPercent *= 100.0f;
                 currLossCounter[mavlinkChannel] = 0;
                 currReceiveCounter[mavlinkChannel] = 0;
-                emit receiveLossChanged(message.sysid, receiveLoss);
+                emit receiveLossPercentChanged(message.sysid, receiveLossPercent);
+                emit receiveLossTotalChanged(message.sysid, totalLossCounter[mavlinkChannel]);
             }
 
             // The packet is emitted as a whole, as it is only 255 - 261 bytes short

src/comm/MAVLinkProtocol.h

@@ -242,8 +242,9 @@ signals:
     void actionGuardChanged(bool enabled);
     /** @brief Emitted if action request timeout changed */
     void actionRetransmissionTimeoutChanged(int ms);
-    /** @brief Update the packet loss from one system */
-    void receiveLossChanged(int uasId, float loss);
+
+    void receiveLossPercentChanged(int uasId, float lossPercent);
+    void receiveLossTotalChanged(int uasId, int totalLoss);
 
     /**
      * @brief Emitted if a new radio status packet received

src/ui/uas/UASInfoWidget.cc

@@ -46,10 +46,12 @@ This file is part of the PIXHAWK project
 
 UASInfoWidget::UASInfoWidget(const QString& title, QAction* action, QWidget *parent, QString name)
     : QGCDockWidget(title, action, parent)
+    , _activeUAS(NULL)
+    , _seqLossPercent(0)
+    , _seqLossTotal(0)
 {
     ui.setupUi(this);
     this->name = name;
-    activeUAS = NULL;
 
     connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged, this, &UASInfoWidget::_activeVehicleChanged);
     _activeVehicleChanged(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
@@ -76,6 +78,9 @@ UASInfoWidget::UASInfoWidget(const QString& title, QAction* action, QWidget *par
     this->setVisible(false);
     
     loadSettings();
+
+    connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::receiveLossPercentChanged, this, &UASInfoWidget::updateSeqLossPercent);
+    connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::receiveLossTotalChanged, this, &UASInfoWidget::updateSeqLossTotal);
 }
 
 UASInfoWidget::~UASInfoWidget()
@@ -101,20 +106,20 @@ void UASInfoWidget::hideEvent(QHideEvent* event)
 
 void UASInfoWidget::_activeVehicleChanged(Vehicle* vehicle)
 {
-    if (activeUAS) {
-        disconnect(activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery);
-        disconnect(activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss);
-        disconnect(static_cast<UAS*>(activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad);
-        disconnect(activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount);
-        activeUAS = NULL;
+    if (_activeUAS) {
+        disconnect(_activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery);
+        disconnect(_activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss);
+        disconnect(static_cast<UAS*>(_activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad);
+        disconnect(_activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount);
+        _activeUAS = NULL;
     }
     
     if (vehicle) {
-        activeUAS = vehicle->uas();
-        connect(activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery);
-        connect(activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss);
-        connect(static_cast<UAS*>(activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad);
-        connect(activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount);
+        _activeUAS = vehicle->uas();
+        connect(_activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery);
+        connect(_activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss);
+        connect(static_cast<UAS*>(_activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad);
+        connect(_activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount);
     }
 }
 
@@ -128,8 +133,8 @@ void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double curr
 
 void UASInfoWidget::updateErrorCount(int uasid, QString component, QString device, int count)
 {
-    //qDebug() << __FILE__ << __LINE__ << activeUAS->getUASID() << "=" << uasid;
-    if (activeUAS->getUASID() == uasid) {
+    //qDebug() << __FILE__ << __LINE__ << _activeUAS->getUASID() << "=" << uasid;
+    if (_activeUAS->getUASID() == uasid) {
         errors.remove(component + ":" + device);
         errors.insert(component + ":" + device, count);
     }
@@ -140,7 +145,7 @@ void UASInfoWidget::updateErrorCount(int uasid, QString component, QString devic
  */
 void UASInfoWidget::updateCPULoad(UASInterface* uas, double load)
 {
-    if (activeUAS == uas) {
+    if (_activeUAS == uas) {
         this->load = load;
     }
 }
@@ -151,6 +156,24 @@ void UASInfoWidget::updateReceiveLoss(int uasId, float receiveLoss)
     this->receiveLoss = this->receiveLoss * 0.8f + receiveLoss * 0.2f;
 }
 
+void UASInfoWidget::updateSeqLossPercent(int uasId, float seqLossPercent)
+{
+    if (_activeUAS && _activeUAS->getUASID() == uasId) {
+        _seqLossPercent = _seqLossPercent * 0.8f + seqLossPercent * 0.2f;
+    } else {
+        _seqLossPercent = 0;
+    }
+}
+
+void UASInfoWidget::updateSeqLossTotal(int uasId, int seqLossTotal)
+{
+    if (_activeUAS && _activeUAS->getUASID() == uasId) {
+        _seqLossTotal = seqLossTotal;
+    } else {
+        _seqLossTotal = 0;
+    }
+}
+
 /**
   The send loss is typically calculated on the GCS based on packets
   that were received scrambled from the MAV
@@ -169,14 +192,14 @@ void UASInfoWidget::setVoltage(UASInterface* uas, double voltage)
 
 void UASInfoWidget::setChargeLevel(UASInterface* uas, double chargeLevel)
 {
-    if (activeUAS == uas) {
+    if (_activeUAS == uas) {
         this->chargeLevel = chargeLevel;
     }
 }
 
 void UASInfoWidget::setTimeRemaining(UASInterface* uas, double seconds)
 {
-    if (activeUAS == uas) {
+    if (_activeUAS == uas) {
         this->timeRemaining = seconds;
     }
 }
@@ -192,6 +215,11 @@ void UASInfoWidget::refresh()
     ui.receiveLossBar->setValue(qMax(0, qMin(static_cast<int>(receiveLoss), 100)));
     ui.receiveLossLabel->setText(QString::number(receiveLoss, 'f', 2));
 
+    ui.seqLossBar->setValue(qMax(0, qMin(static_cast<int>(_seqLossPercent), 100)));
+    ui.seqLossLabel->setText(QString::number(_seqLossPercent, 'f', 2));
+
+    ui.seqcntLossLabel->setText(QString::number(_seqLossTotal));
+
     ui.sendLossBar->setValue(sendLoss);
     ui.sendLossLabel->setText(QString::number(sendLoss, 'f', 2));
 

src/ui/uas/UASInfoWidget.h

@@ -54,13 +54,16 @@ public:
 public slots:
     void updateBattery(UASInterface* uas, double voltage, double current, double percent, int seconds);
     void updateCPULoad(UASInterface* uas, double load);
-    /** 
-	 * @brief Set the loss rate of packets received by the MAV.
-	 * @param uasId UNUSED
-	 * @param receiveLoss A percentage value (0-100) of how many message the UAS has failed to receive.
-	 */
+    /**
+     * @brief Set the loss rate of packets received by the MAV.
+     * @param uasId UNUSED
+     * @param receiveLoss A percentage value (0-100) of how many message the UAS has failed to receive.
+     */
     void updateReceiveLoss(int uasId, float receiveLoss);
 
+    void updateSeqLossPercent(int uasId, float seqLoss);
+    void updateSeqLossTotal(int uasId, int seqLossTotal);
+
     /**
 	 * @brief Set the loss rate of packets sent from the MAV 
 	 * @param uasId UNUSED
@@ -79,7 +82,6 @@ public slots:
 
 protected:
 
-    UASInterface* activeUAS;
 
     // Configuration variables
     int voltageDecimals;
@@ -110,6 +112,9 @@ private slots:
 private:
     Ui::uasInfo ui;
 
+    UASInterface*   _activeUAS;
+    float           _seqLossPercent;
+    int             _seqLossTotal;
 };
 
 #endif // _UASINFOWIDGET_H_