Skip to content

Q
qgroundcontrol
Commit 4348fabe authored by Don Gagne's avatar Don Gagne
Browse files
Options

Merge pull request #3179 from DonLakeFlyer/SeqLoss 

Show mavlink sequence number packet loss in UI
parents 0f884579 393f1533
Show whitespace changes
Inline Side-by-side
Showing with 283 additions and 63 deletions
src/comm/MAVLinkProtocol.cc
View file @ 4348fabe
...@@ -63,7 +63,11 @@ MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app) ...@@ -63,7 +63,11 @@ MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app)
, _linkMgr(NULL) , _linkMgr(NULL)
, _multiVehicleManager(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() MAVLinkProtocol::~MAVLinkProtocol()
...@@ -357,11 +361,12 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -357,11 +361,12 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
{ {
// Calculate new loss ratio // Calculate new loss ratio
// Receive loss // Receive loss
float receiveLoss = (double)currLossCounter[mavlinkChannel]/(double)(currReceiveCounter[mavlinkChannel]+currLossCounter[mavlinkChannel]); float receiveLossPercent = (double)currLossCounter[mavlinkChannel]/(double)(currReceiveCounter[mavlinkChannel]+currLossCounter[mavlinkChannel]);
receiveLoss *= 100.0f; receiveLossPercent *= 100.0f;
currLossCounter[mavlinkChannel] = 0; currLossCounter[mavlinkChannel] = 0;
currReceiveCounter[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 // The packet is emitted as a whole, as it is only 255 - 261 bytes short
......
src/comm/MAVLinkProtocol.h
View file @ 4348fabe
...@@ -242,8 +242,9 @@ signals: ...@@ -242,8 +242,9 @@ signals:
void actionGuardChanged(bool enabled); void actionGuardChanged(bool enabled);
/** @brief Emitted if action request timeout changed */ /** @brief Emitted if action request timeout changed */
void actionRetransmissionTimeoutChanged(int ms); 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 * @brief Emitted if a new radio status packet received
......
src/ui/UASInfo.ui
View file @ 4348fabe
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>230</width> <width>243</width>
<height>161</height> <height>161</height>
</rect> </rect>
</property> </property>
...@@ -16,8 +16,17 @@ ...@@ -16,8 +16,17 @@
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
</property> </property>
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,100" columnstretch="0,0,0,0,0,0,0"> <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,100,0" columnstretch="0,0,0,0,0,0,0">
<property name="margin"> <property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number> <number>3</number>
</property> </property>
<property name="spacing"> <property name="spacing">
...@@ -288,14 +297,14 @@ ...@@ -288,14 +297,14 @@
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="3" column="0">
<widget class="QLabel" name="label_3"> <widget class="QLabel" name="label_seq">
<property name="text"> <property name="text">
<string>MCU Load</string> <string>MAV Seq Loss</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="3" column="1">
<spacer name="horizontalSpacer_4"> <spacer name="horizontalSpacer_seq">
<property name="orientation"> <property name="orientation">
<enum>Qt::Horizontal</enum> <enum>Qt::Horizontal</enum>
</property> </property>
...@@ -311,7 +320,7 @@ ...@@ -311,7 +320,7 @@
</spacer> </spacer>
</item> </item>
<item row="3" column="2"> <item row="3" column="2">
<widget class="QLabel" name="loadLabel"> <widget class="QLabel" name="seqLossLabel">
<property name="text"> <property name="text">
<string>0</string> <string>0</string>
</property> </property>
...@@ -324,7 +333,7 @@ ...@@ -324,7 +333,7 @@
</widget> </widget>
</item> </item>
<item row="3" column="3"> <item row="3" column="3">
<widget class="QLabel" name="label_9"> <widget class="QLabel" name="label_seq1">
<property name="text"> <property name="text">
<string>%</string> <string>%</string>
</property> </property>
...@@ -337,7 +346,7 @@ ...@@ -337,7 +346,7 @@
</widget> </widget>
</item> </item>
<item row="3" column="4" colspan="2"> <item row="3" column="4" colspan="2">
<widget class="QProgressBar" name="loadBar"> <widget class="QProgressBar" name="seqLossBar">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed"> <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>10</horstretch> <horstretch>10</horstretch>
...@@ -373,44 +382,199 @@ ...@@ -373,44 +382,199 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="0" colspan="6"> <item row="4" column="0">
<widget class="Line" name="line"> <widget class="QLabel" name="label_seqcnt">
<property name="text">
<string>Seq Loss Cnt</string>
</property>
</widget>
</item>
<item row="4" column="1">
<spacer name="horizontalSpacer_seqcnt">
<property name="orientation"> <property name="orientation">
<enum>Qt::Horizontal</enum> <enum>Qt::Horizontal</enum>
</property> </property>
<property name="sizeType">
<enum>QSizePolicy::Maximum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>13</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="2">
<widget class="QLabel" name="seqcntLossLabel">
<property name="text">
<string>0</string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget> </widget>
</item> </item>
<item row="7" column="0" colspan="7"> <item row="4" column="3">
<spacer name="verticalSpacer"> <widget class="QLabel" name="label_seqcnt1">
<property name="text">
<string></string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="4" colspan="2">
<widget class="QProgressBar" name="seqcntLossBar">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>10</horstretch>
<verstretch>18</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="baseSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>
</property>
<property name="format">
<string>%p%</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>MCU Load</string>
</property>
</widget>
</item>
<item row="5" column="1">
<spacer name="horizontalSpacer_4">
<property name="orientation"> <property name="orientation">
<enum>Qt::Vertical</enum> <enum>Qt::Horizontal</enum>
</property> </property>
<property name="sizeType"> <property name="sizeType">
<enum>QSizePolicy::Expanding</enum> <enum>QSizePolicy::Maximum</enum>
</property> </property>
<property name="sizeHint" stdset="0"> <property name="sizeHint" stdset="0">
<size> <size>
<width>0</width> <width>13</width>
<height>0</height> <height>15</height>
</size> </size>
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="6" column="0" colspan="6"> <item row="5" column="2">
<widget class="QLabel" name="errorLabel"> <widget class="QLabel" name="loadLabel">
<property name="text"> <property name="text">
<string>No error status received yet</string> <string>0</string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="0"> <item row="5" column="3">
<widget class="QLabel" name="label_9">
<property name="text">
<string>%</string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="4" colspan="2">
<widget class="QProgressBar" name="loadBar">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>10</horstretch>
<verstretch>18</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="baseSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>
</property>
<property name="format">
<string>%p%</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_4"> <widget class="QLabel" name="label_4">
<property name="text"> <property name="text">
<string>CPU Load</string> <string>CPU Load</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="2"> <item row="6" column="1">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>13</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_5"> <widget class="QLabel" name="label_5">
<property name="text"> <property name="text">
<string>0</string> <string>0</string>
...@@ -420,14 +584,14 @@ ...@@ -420,14 +584,14 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="3"> <item row="6" column="3">
<widget class="QLabel" name="label_10"> <widget class="QLabel" name="label_10">
<property name="text"> <property name="text">
<string>%</string> <string>%</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="4" colspan="2"> <item row="6" column="4" colspan="2">
<widget class="QProgressBar" name="progressBar"> <widget class="QProgressBar" name="progressBar">
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
...@@ -446,15 +610,32 @@ ...@@ -446,15 +610,32 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="1"> <item row="7" column="0" colspan="6">
<spacer name="horizontalSpacer"> <widget class="Line" name="line">
<property name="orientation"> <property name="orientation">
<enum>Qt::Horizontal</enum> <enum>Qt::Horizontal</enum>
</property> </property>
</widget>
</item>
<item row="8" column="0" colspan="6">
<widget class="QLabel" name="errorLabel">
<property name="text">
<string>No error status received yet</string>
</property>
</widget>
</item>
<item row="9" column="0" colspan="7">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0"> <property name="sizeHint" stdset="0">
<size> <size>
<width>13</width> <width>0</width>
<height>15</height> <height>0</height>
</size> </size>
</property> </property>
</spacer> </spacer>
......
src/ui/uas/UASInfoWidget.cc
View file @ 4348fabe
...@@ -46,10 +46,12 @@ This file is part of the PIXHAWK project ...@@ -46,10 +46,12 @@ This file is part of the PIXHAWK project
UASInfoWidget::UASInfoWidget(const QString& title, QAction* action, QWidget *parent, QString name) UASInfoWidget::UASInfoWidget(const QString& title, QAction* action, QWidget *parent, QString name)
: QGCDockWidget(title, action, parent) : QGCDockWidget(title, action, parent)
, _activeUAS(NULL)
, _seqLossPercent(0)
, _seqLossTotal(0)
{ {
ui.setupUi(this); ui.setupUi(this);
this->name = name; this->name = name;
activeUAS = NULL;
connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged, this, &UASInfoWidget::_activeVehicleChanged); connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged, this, &UASInfoWidget::_activeVehicleChanged);
_activeVehicleChanged(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()); _activeVehicleChanged(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
...@@ -76,6 +78,9 @@ UASInfoWidget::UASInfoWidget(const QString& title, QAction* action, QWidget *par ...@@ -76,6 +78,9 @@ UASInfoWidget::UASInfoWidget(const QString& title, QAction* action, QWidget *par
this->setVisible(false); this->setVisible(false);
loadSettings(); loadSettings();
connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::receiveLossPercentChanged, this, &UASInfoWidget::updateSeqLossPercent);
connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::receiveLossTotalChanged, this, &UASInfoWidget::updateSeqLossTotal);
} }
UASInfoWidget::~UASInfoWidget() UASInfoWidget::~UASInfoWidget()
...@@ -101,20 +106,20 @@ void UASInfoWidget::hideEvent(QHideEvent* event) ...@@ -101,20 +106,20 @@ void UASInfoWidget::hideEvent(QHideEvent* event)
void UASInfoWidget::_activeVehicleChanged(Vehicle* vehicle) void UASInfoWidget::_activeVehicleChanged(Vehicle* vehicle)
{ {
if (activeUAS) { if (_activeUAS) {
disconnect(activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery); disconnect(_activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery);
disconnect(activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss); disconnect(_activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss);
disconnect(static_cast<UAS*>(activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad); disconnect(static_cast<UAS*>(_activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad);
disconnect(activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount); disconnect(_activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount);
activeUAS = NULL; _activeUAS = NULL;
} }
if (vehicle) { if (vehicle) {
activeUAS = vehicle->uas(); _activeUAS = vehicle->uas();
connect(activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery); connect(_activeUAS, &UASInterface::batteryChanged, this, &UASInfoWidget::updateBattery);
connect(activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss); connect(_activeUAS, &UASInterface::dropRateChanged, this, &UASInfoWidget::updateReceiveLoss);
connect(static_cast<UAS*>(activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad); connect(static_cast<UAS*>(_activeUAS), &UAS::loadChanged, this, &UASInfoWidget::updateCPULoad);
connect(activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount); connect(_activeUAS, &UASInterface::errCountChanged, this, &UASInfoWidget::updateErrorCount);
} }
} }
...@@ -128,8 +133,8 @@ void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double curr ...@@ -128,8 +133,8 @@ void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double curr
void UASInfoWidget::updateErrorCount(int uasid, QString component, QString device, int count) void UASInfoWidget::updateErrorCount(int uasid, QString component, QString device, int count)
{ {
//qDebug() << __FILE__ << __LINE__ << activeUAS->getUASID() << "=" << uasid; //qDebug() << __FILE__ << __LINE__ << _activeUAS->getUASID() << "=" << uasid;
if (activeUAS->getUASID() == uasid) { if (_activeUAS->getUASID() == uasid) {
errors.remove(component + ":" + device); errors.remove(component + ":" + device);
errors.insert(component + ":" + device, count); errors.insert(component + ":" + device, count);
} }
...@@ -140,7 +145,7 @@ void UASInfoWidget::updateErrorCount(int uasid, QString component, QString devic ...@@ -140,7 +145,7 @@ void UASInfoWidget::updateErrorCount(int uasid, QString component, QString devic
*/ */
void UASInfoWidget::updateCPULoad(UASInterface* uas, double load) void UASInfoWidget::updateCPULoad(UASInterface* uas, double load)
{ {
if (activeUAS == uas) { if (_activeUAS == uas) {
this->load = load; this->load = load;
} }
} }
...@@ -151,6 +156,24 @@ void UASInfoWidget::updateReceiveLoss(int uasId, float receiveLoss) ...@@ -151,6 +156,24 @@ void UASInfoWidget::updateReceiveLoss(int uasId, float receiveLoss)
this->receiveLoss = this->receiveLoss * 0.8f + receiveLoss * 0.2f; 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 The send loss is typically calculated on the GCS based on packets
that were received scrambled from the MAV that were received scrambled from the MAV
...@@ -169,14 +192,14 @@ void UASInfoWidget::setVoltage(UASInterface* uas, double voltage) ...@@ -169,14 +192,14 @@ void UASInfoWidget::setVoltage(UASInterface* uas, double voltage)
void UASInfoWidget::setChargeLevel(UASInterface* uas, double chargeLevel) void UASInfoWidget::setChargeLevel(UASInterface* uas, double chargeLevel)
{ {
if (activeUAS == uas) { if (_activeUAS == uas) {
this->chargeLevel = chargeLevel; this->chargeLevel = chargeLevel;
} }
} }
void UASInfoWidget::setTimeRemaining(UASInterface* uas, double seconds) void UASInfoWidget::setTimeRemaining(UASInterface* uas, double seconds)
{ {
if (activeUAS == uas) { if (_activeUAS == uas) {
this->timeRemaining = seconds; this->timeRemaining = seconds;
} }
} }
...@@ -192,6 +215,11 @@ void UASInfoWidget::refresh() ...@@ -192,6 +215,11 @@ void UASInfoWidget::refresh()
ui.receiveLossBar->setValue(qMax(0, qMin(static_cast<int>(receiveLoss), 100))); ui.receiveLossBar->setValue(qMax(0, qMin(static_cast<int>(receiveLoss), 100)));
ui.receiveLossLabel->setText(QString::number(receiveLoss, 'f', 2)); 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.sendLossBar->setValue(sendLoss);
ui.sendLossLabel->setText(QString::number(sendLoss, 'f', 2)); ui.sendLossLabel->setText(QString::number(sendLoss, 'f', 2));
......
src/ui/uas/UASInfoWidget.h
View file @ 4348fabe
...@@ -61,6 +61,9 @@ public slots: ...@@ -61,6 +61,9 @@ public slots:
*/ */
void updateReceiveLoss(int uasId, float receiveLoss); 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 * @brief Set the loss rate of packets sent from the MAV
* @param uasId UNUSED * @param uasId UNUSED
...@@ -79,7 +82,6 @@ public slots: ...@@ -79,7 +82,6 @@ public slots:
protected: protected:
UASInterface* activeUAS;
// Configuration variables // Configuration variables
int voltageDecimals; int voltageDecimals;
...@@ -110,6 +112,9 @@ private slots: ...@@ -110,6 +112,9 @@ private slots:
private: private:
Ui::uasInfo ui; Ui::uasInfo ui;
UASInterface* _activeUAS;
float _seqLossPercent;
int _seqLossTotal;
}; };
#endif // _UASINFOWIDGET_H_ #endif // _UASINFOWIDGET_H_
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment