Merge pull request #437 from Susurrus/simpleCheckRates

Add display of the upstream data rate to the Debug Console

src/comm/LinkInterface.h

@@ -73,7 +73,7 @@ public:
     /* Connection characteristics */
 
     /**
-     * @Brief Get the nominal data rate of the interface.
+     * @Brief Get the maximum connection speed for this interface.
      *
      * The nominal data rate is the theoretical maximum data rate of the
      * interface. For 100Base-T Ethernet this would be 100 Mbit/s (100'000'000
@@ -81,7 +81,27 @@ public:
      *
      * @return The nominal data rate of the interface in bit per second, 0 if unknown
      **/
-    virtual qint64 getNominalDataRate() const = 0;
+    virtual qint64 getConnectionSpeed() const = 0;
+
+    /**
+     * @Brief Get the current incoming data rate.
+     *
+     * This should be over a short timespan, something like 100ms. A precise value isn't necessary,
+     * and this can be filtered, but should be a reasonable estimate of current data rate.
+     *
+     * @return The data rate of the interface in bits per second, 0 if unknown
+     **/
+    virtual qint64 getCurrentInDataRate() const = 0;
+
+    /**
+     * @Brief Get the current outgoing data rate.
+     *
+     * This should be over a short timespan, something like 100ms. A precise value isn't necessary,
+     * and this can be filtered, but should be a reasonable estimate of current data rate.
+     *
+     * @return The data rate of the interface in bits per second, 0 if unknown
+     **/
+    virtual qint64 getCurrentOutDataRate() const = 0;
 
     /**
      * @brief Connect this interface logically

src/comm/MAVLinkSimulationLink.cc

@@ -1000,8 +1000,18 @@ QString MAVLinkSimulationLink::getName() const
     return name;
 }
 
-qint64 MAVLinkSimulationLink::getNominalDataRate() const
+qint64 MAVLinkSimulationLink::getConnectionSpeed() const
 {
     /* 100 Mbit is reasonable fast and sufficient for all embedded applications */
     return 100000000;
-}
+}
\ No newline at end of file
+
+qint64 MAVLinkSimulationLink::getCurrentInDataRate() const
+{
+    return 0;
+}
+
+qint64 MAVLinkSimulationLink::getCurrentOutDataRate() const
+{
+    return 0;
+}

src/comm/MAVLinkSimulationLink.h

@@ -58,8 +58,10 @@ public:
     bool connect();
     bool disconnect();
 
-    /* Extensive statistics for scientific purposes */
-    qint64 getNominalDataRate() const;
+    // Extensive statistics for scientific purposes
+    qint64 getConnectionSpeed() const;
+    qint64 getCurrentInDataRate() const;
+    qint64 getCurrentOutDataRate() const;
 
     QString getName() const;
     int getId() const;

src/comm/OpalLink.cc

@@ -496,16 +496,18 @@ bool OpalLink::disconnect()
     return true;
 }
 
+// Data rate functions
+qint64 OpalLink::getConnectionSpeed() const
+{
+    return 0; //unknown
+}
 
+qint64 OpalLink::getCurrentInDataRate() const
+{
+    return 0;
+}
 
-
-/*
- *
-  Statisctics
- *
- */
-
-qint64 OpalLink::getNominalDataRate() const
+qint64 OpalLink::getCurrentOutDataRate() const
 {
-    return 0; //unknown
-}
+    return 0;
+}
\ No newline at end of file

src/comm/OpalLink.h

@@ -75,10 +75,9 @@ public:
     QString getName() const;
     bool isConnected() const;
 
-    /* Connection characteristics */
-
-
-    qint64 getNominalDataRate() const;
+    qint64 getConnectionSpeed() const;
+    qint64 getCurrentInDataRate() const;
+    qint64 getCurrentOutDataRate() const;
 
     bool connect();
 

src/comm/SerialLink.cc

@@ -19,18 +19,26 @@
 #include "QGC.h"
 #include <MG.h>
 
-
-
 SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl, bool parity,
                        int dataBits, int stopBits) :
     m_bytesRead(0),
     m_port(NULL),
+    inDataIndex(0),
+    outDataIndex(0),
     m_stopp(false),
     m_reqReset(false)
 {
-    // Setup settings
-    m_portName = portname.trimmed();
+    // Initialize our arrays manually, cause C++<03 is dumb.
+    for (int i = 0; i < buffer_size; ++i)
+    {
+        inDataWriteAmounts[i] = 0;
+        inDataWriteTimes[i] = 0;
+        outDataWriteAmounts[i] = 0;
+        outDataWriteTimes[i] = 0;
+    }
 
+    // Get the name of the current port in use.
+    m_portName = portname.trimmed();
     if (m_portName == "" && getCurrentPorts().size() > 0)
     {
         m_portName = m_ports.first().trimmed();
@@ -69,6 +77,7 @@ SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl,
 
     LinkManager::instance()->add(this);
 }
+
 void SerialLink::requestReset()
 {
     QMutexLocker locker(&this->m_stoppMutex);
@@ -157,9 +166,9 @@ void SerialLink::run()
     qint64 timeout = 5000;
     int linkErrorCount = 0;
 
-    forever  {
+    forever {
         {
-        QMutexLocker locker(&this->m_stoppMutex);
+            QMutexLocker locker(&this->m_stoppMutex);
             if(m_stopp) {
                 m_stopp = false;
                 break; // exit the thread
@@ -174,6 +183,7 @@ void SerialLink::run()
             }
         }
 
+        // If there are too many errors on this link, disconnect.
         if (isConnected() && (linkErrorCount > 1000)) {
             qDebug() << "linkErrorCount too high: disconnecting!";
             linkErrorCount = 0;
@@ -181,8 +191,9 @@ void SerialLink::run()
             disconnect();
         }
 
+        // Write all our buffered data out the serial port.
         if (m_transmitBuffer.count() > 0) {
-            QMutexLocker writeLocker(&m_writeMutex);
+            m_writeMutex.lock();
             int numWritten = m_port->write(m_transmitBuffer);
             bool txSuccess = m_port->waitForBytesWritten(5);
             if (!txSuccess || (numWritten != m_transmitBuffer.count())) {
@@ -190,30 +201,46 @@ void SerialLink::run()
                 qDebug() << "TX Error! wrote" << numWritten << ", asked for " << m_transmitBuffer.count() << "bytes";
             }
             else {
+
+                // Since we were successful, reset out error counter.
                 linkErrorCount = 0;
             }
-            m_transmitBuffer =  m_transmitBuffer.remove(0, numWritten);
+
+            // Now that we transmit all of the data in the transmit buffer, flush it.
+            m_transmitBuffer = m_transmitBuffer.remove(0, numWritten);
+            m_writeMutex.unlock();
+
+            // Log this written data for this timestep. If this value ends up being 0 due to
+            // write() failing, that's what we want as well.
+            QMutexLocker statsLocker(&m_statisticsMutex);
+            WriteDataStatsBuffer(outDataWriteAmounts, outDataWriteTimes, &outDataIndex, numWritten, QDateTime::currentMSecsSinceEpoch());
         }
 
         //wait n msecs for data to be ready
         //[TODO][BB] lower to SerialLink::poll_interval?
+        m_dataMutex.lock();
         bool success = m_port->waitForReadyRead(10);
 
         if (success) {
             QByteArray readData = m_port->readAll();
             while (m_port->waitForReadyRead(10))
                 readData += m_port->readAll();
+            m_dataMutex.unlock();
             if (readData.length() > 0) {
                 emit bytesReceived(this, readData);
-//                qDebug() << "rx of length " << QString::number(readData.length());
 
+                // Log this data reception for this timestep
+                QMutexLocker statsLocker(&m_statisticsMutex);
+                WriteDataStatsBuffer(inDataWriteAmounts, inDataWriteTimes, &inDataIndex, readData.length(), QDateTime::currentMSecsSinceEpoch());
+
+                // Track the total amount of data read.
                 m_bytesRead += readData.length();
                 linkErrorCount = 0;
             }
         }
         else {
+            m_dataMutex.unlock();
             linkErrorCount++;
-            //qDebug() << "Wait read response timeout" << QTime::currentTime().toString();
         }
 
         if (bytes != m_bytesRead) { // i.e things are good and data is being read.
@@ -266,19 +293,31 @@ void SerialLink::run()
     }
 }
 
+void SerialLink::WriteDataStatsBuffer(quint64 *bytesBuffer, qint64 *timeBuffer, int *writeIndex, quint64 bytes, qint64 time)
+{
+    int i = *writeIndex;
+
+    // Now write into the buffer, if there's no room, we just overwrite the first data point.
+    bytesBuffer[i] = bytes;
+    timeBuffer[i] = time;
+
+    // Increment and wrap the write index
+    ++i;
+    if (i == buffer_size)
+    {
+        i = 0;
+    }
+    *writeIndex = i;
+}
+
 void SerialLink::writeBytes(const char* data, qint64 size)
 {
     if(m_port && m_port->isOpen()) {
-//        qDebug() << "writeBytes" << m_portName << "attempting to tx " << size << "bytes.";
 
         QByteArray byteArray(data, size);
-        {
-            QMutexLocker writeLocker(&m_writeMutex);
-            m_transmitBuffer.append(byteArray);
-        }
-
-        // Extra debug logging
-//            qDebug() << byteArray->toHex();
+        m_writeMutex.lock();
+        m_transmitBuffer.append(byteArray);
+        m_writeMutex.unlock();
     } else {
         disconnect();
         // Error occured
@@ -294,12 +333,11 @@ void SerialLink::writeBytes(const char* data, qint64 size)
  **/
 void SerialLink::readBytes()
 {
-    m_dataMutex.lock();
     if(m_port && m_port->isOpen()) {
         const qint64 maxLength = 2048;
         char data[maxLength];
+        m_dataMutex.lock();
         qint64 numBytes = m_port->bytesAvailable();
-        //qDebug() << "numBytes: " << numBytes;
 
         if(numBytes > 0) {
             /* Read as much data in buffer as possible without overflow */
@@ -308,18 +346,9 @@ void SerialLink::readBytes()
             m_port->read(data, numBytes);
             QByteArray b(data, numBytes);
             emit bytesReceived(this, b);
-
-            //qDebug() << "SerialLink::readBytes()" << std::hex << data;
-            //            int i;
-            //            for (i=0; i<numBytes; i++){
-            //                unsigned int v=data[i];
-            //
-            //                fprintf(stderr,"%02x ", v);
-            //            }
-            //            fprintf(stderr,"\n");
         }
+        m_dataMutex.unlock();
     }
-    m_dataMutex.unlock();
 }
 
 
@@ -482,7 +511,7 @@ QString SerialLink::getName() const
   * This function maps baud rate constants to numerical equivalents.
   * It relies on the mapping given in qportsettings.h from the QSerialPort library.
   */
-qint64 SerialLink::getNominalDataRate() const
+qint64 SerialLink::getConnectionSpeed() const
 {
     int baudRate;
     if (m_port) {
@@ -526,6 +555,94 @@ qint64 SerialLink::getNominalDataRate() const
     return dataRate;
 }
 
+qint64 SerialLink::getCurrentOutDataRate() const
+{
+    const qint64 now = QDateTime::currentMSecsSinceEpoch();
+
+    // Limit the time we calculate to the recent past
+    const qint64 cutoff = now - stats_timespan;
+
+    // Grab the mutex for working with the stats variables
+    QMutexLocker statsLocker(&m_statisticsMutex);
+
+    // Now iterate through the buffer of all received data packets adding up all values
+    // within now and our cutof.
+    int index = outDataIndex;
+    qint64 totalBytes = 0;
+    qint64 totalTime = 0;
+    qint64 lastTime = 0;
+    int size = buffer_size;
+    while (size-- > 0)
+    {
+        // If this data is within our cutoff time, include it in our calculations.
+        // This also accounts for when the buffer is empty and filled with 0-times.
+        if (outDataWriteTimes[index] > cutoff && lastTime > 0) {
+            // Track the total time, using the previous time as our timeperiod.
+            totalTime += outDataWriteTimes[index] - lastTime;
+            totalBytes += outDataWriteAmounts[index];
+        }
+
+        // Track the last time sample for doing timespan calculations
+        lastTime = outDataWriteTimes[index];
+
+        // Increment and wrap the index if necessary.
+        if (++index == buffer_size)
+        {
+            index = 0;
+        }
+    }
+
+    // Return the final calculated value in bits / s, converted from bytes/ms.
+    qint64 dataRate = (totalTime != 0)?(qint64)((float)totalBytes * 8.0f / ((float)totalTime / 1000.0f)):0;
+
+    // Finally return our calculated data rate.
+    return dataRate;
+}
+
+qint64 SerialLink::getCurrentInDataRate() const
+{
+    const qint64 now = QDateTime::currentMSecsSinceEpoch();
+
+    // Limit the time we calculate to the recent past
+    const qint64 cutoff = now - stats_timespan;
+
+    // Grab the mutex for working with the stats variables
+    QMutexLocker statsLocker(&m_statisticsMutex);
+
+    // Now iterate through the buffer of all received data packets adding up all values
+    // within now and our cutof.
+    int index = inDataIndex;
+    qint64 totalBytes = 0;
+    qint64 totalTime = 0;
+    qint64 lastTime = 0;
+    int size = buffer_size;
+    while (size-- > 0)
+    {
+        // If this data is within our cutoff time, include it in our calculations.
+        // This also accounts for when the buffer is empty and filled with 0-times.
+        if (inDataWriteTimes[index] > cutoff && lastTime > 0) {
+            // Track the total time, using the previous time as our timeperiod.
+            totalTime += inDataWriteTimes[index] - lastTime;
+            totalBytes += inDataWriteAmounts[index];
+        }
+
+        // Track the last time sample for doing timespan calculations
+        lastTime = inDataWriteTimes[index];
+
+        // Increment and wrap the index if necessary.
+        if (++index == buffer_size)
+        {
+            index = 0;
+        }
+    }
+
+    // Return the final calculated value in bits / s, converted from bytes/ms.
+    qint64 dataRate = (totalTime != 0)?(qint64)((float)totalBytes * 8.0f / ((float)totalTime / 1000.0f)):0;
+
+    // Finally return our calculated data rate.
+    return dataRate;
+}
+
 QString SerialLink::getPortName() const
 {
     return m_portName;
@@ -535,7 +652,7 @@ QString SerialLink::getPortName() const
 
 int SerialLink::getBaudRate() const
 {
-    return getNominalDataRate();
+    return getConnectionSpeed();
 }
 
 int SerialLink::getBaudRateType() const
@@ -654,7 +771,6 @@ bool SerialLink::setPortName(QString portName)
     if ((portName != m_portName)
             && (portName.trimmed().length() > 0)) {
         m_portName = portName.trimmed();
-//        m_name = tr("serial port ") + portName.trimmed(); // [TODO] Do we need this?
         if(m_port)
             m_port->setPortName(portName);
 

src/comm/SerialLink.h

@@ -68,6 +68,10 @@ public:
 
     static const int poll_interval = SERIAL_POLL_INTERVAL; ///< Polling interval, defined in configuration.h
 
+    static const int buffer_size = 20; ///< Specify how many data points to capture for data rate calculations.
+
+    static const qint64 stats_timespan = 500; ///< Set the maximum age of samples to use for data calculations (ms).
+
     /** @brief Get a list of the currently available ports */
     QList<QString> getCurrentPorts();
 
@@ -95,8 +99,9 @@ public:
     int getDataBitsType() const;
     int getStopBitsType() const;
 
-    /* Extensive statistics for scientific purposes */
-    qint64 getNominalDataRate() const;
+    qint64 getConnectionSpeed() const;
+    qint64 getCurrentInDataRate() const;
+    qint64 getCurrentOutDataRate() const;
 
     void loadSettings();
     void writeSettings();
@@ -147,19 +152,45 @@ protected:
     int m_stopBits;
     int m_parity;
     QString m_portName;
-//    QString m_name;
     int m_timeout;
     int m_id;
-
-    QMutex m_dataMutex;
-    QMutex m_writeMutex;
+    // Implement a simple circular buffer for storing when and how much data was received.
+    // Used for calculating the incoming data rate. Use with *StatsBuffer() functions.
+    int inDataIndex;
+    quint64 inDataWriteAmounts[buffer_size]; // In bytes
+    qint64 inDataWriteTimes[buffer_size]; // in ms
+
+    // Implement a simple circular buffer for storing when and how much data was transmit.
+    // Used for calculating the outgoing data rate. Use with *StatsBuffer() functions.
+    int outDataIndex;
+    quint64 outDataWriteAmounts[buffer_size]; // In bytes
+    qint64 outDataWriteTimes[buffer_size]; // in ms
+
+    quint64 m_connectionStartTime; // Connection start time (ms since epoch)
+    mutable QMutex m_statisticsMutex; // Mutex for accessing the statistics member variables (inData*,outData*,bitsSent,bitsReceived)
+    QMutex m_dataMutex;       // Mutex for reading data from m_port
+    QMutex m_writeMutex;      // Mutex for accessing the m_transmitBuffer.
     QList<QString> m_ports;
 
 private:
+    /**
+     * @brief WriteDataStatsBuffer Stores transmission times/amounts for statistics
+     *
+     * This function logs the send times and amounts of datas to the given circular buffers.
+     * This data is used for calculating the transmission rate.
+     *
+     * @param bytesBuffer The buffer to write the bytes value into.
+     * @param timeBuffer The buffer to write the time value into
+     * @param writeIndex The write index used for this buffer.
+     * @param bytes The amount of bytes transmit.
+     * @param time The time (in ms) this transmission occurred.
+     */
+    void WriteDataStatsBuffer(quint64 *bytesBuffer, qint64 *timeBuffer, int *writeIndex, quint64 bytes, qint64 time);
+    
     volatile bool m_stopp;
     volatile bool m_reqReset;
-	QMutex m_stoppMutex;
-    QByteArray m_transmitBuffer;
+    QMutex m_stoppMutex; // Mutex for accessing m_stopp
+    QByteArray m_transmitBuffer; // An internal buffer for receiving data from member functions and actually transmitting them via the serial port.
 
     bool hardwareConnect();
 

src/comm/TCPLink.cc

@@ -262,7 +262,17 @@ void TCPLink::setName(QString name)
 }
 
 
-qint64 TCPLink::getNominalDataRate() const
+qint64 TCPLink::getConnectionSpeed() const
 {
     return 54000000; // 54 Mbit
-}
+}
\ No newline at end of file
+
+qint64 TCPLink::getCurrentInDataRate() const
+{
+    return 0;
+}
+
+qint64 TCPLink::getCurrentOutDataRate() const
+{
+    return 0;
+}

src/comm/TCPLink.h

@@ -68,9 +68,11 @@ public:
     int getParityType() const;
     int getDataBitsType() const;
     int getStopBitsType() const;
-    
-    /* Extensive statistics for scientific purposes */
-    qint64 getNominalDataRate() const;
+
+    // Extensive statistics for scientific purposes
+    qint64 getConnectionSpeed() const;
+    qint64 getCurrentInDataRate() const;
+    qint64 getCurrentOutDataRate() const;
     
     void run();
     

src/comm/UDPLink.cc

@@ -376,7 +376,17 @@ void UDPLink::setName(QString name)
 }
 
 
-qint64 UDPLink::getNominalDataRate() const
+qint64 UDPLink::getConnectionSpeed() const
 {
     return 54000000; // 54 Mbit
-}
+}
\ No newline at end of file
+
+qint64 UDPLink::getCurrentInDataRate() const
+{
+    return 0;
+}
+
+qint64 UDPLink::getCurrentOutDataRate() const
+{
+    return 0;
+}

src/comm/UDPLink.h

@@ -71,8 +71,10 @@ public:
         return hosts;
     }
 
-    /* Extensive statistics for scientific purposes */
-    qint64 getNominalDataRate() const;
+    // Extensive statistics for scientific purposes
+    qint64 getConnectionSpeed() const;
+    qint64 getCurrentInDataRate() const;
+    qint64 getCurrentOutDataRate() const;
 
     void run();
 

src/comm/XbeeLink.cpp

@@ -119,10 +119,21 @@ bool XbeeLink::isConnected() const
 	return this->m_connected;
 }
 
-qint64 XbeeLink::getNominalDataRate() const
+qint64 XbeeLink::getConnectionSpeed() const
 {
 	return this->m_baudRate;
 }
+
+qint64 XbeeLink::getCurrentInDataRate() const
+{
+    return 0;
+}
+
+qint64 XbeeLink::getCurrentOutDataRate() const
+{
+    return 0;
+}
+
 bool XbeeLink::hardwareConnect()
 {
 	emit tryConnectBegin(true);
@@ -245,4 +256,4 @@ void CALLTYPE XbeeLink::portCallback(xbee_con *xbeeCon, xbee_pkt *XbeePkt)
 		buf.push_back(XbeePkt->data[i]);
 	}
 	emit bytesReceived(this, buf);
-}*/
+}*/
\ No newline at end of file

src/comm/XbeeLink.h

@@ -34,11 +34,15 @@ public: // virtual functions from LinkInterface
     int getId() const;
     QString getName() const;
     bool isConnected() const;
-    qint64 getNominalDataRate() const;
     bool connect();
     bool disconnect();
     qint64 bytesAvailable();
 
+    // Extensive statistics for scientific purposes
+    qint64 getConnectionSpeed() const;
+    qint64 getCurrentOutDataRate() const;
+    qint64 getCurrentInDataRate() const;
+
 public slots: // virtual functions from LinkInterface
 	void writeBytes(const char *bytes, qint64 length);
 

src/ui/DebugConsole.cc

@@ -23,7 +23,7 @@ This file is part of the QGROUNDCONTROL project
 
 /**
  * @file
- *   @brief Implementation of DebugConsole
+ *   @brief This file implements the Debug Console, a serial console built-in to QGC. 
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *
@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QPainter>
 #include <QSettings>
 #include <QScrollBar>
+#include <QDebug>
 
 #include "DebugConsole.h"
 #include "ui_DebugConsole.h"
@@ -39,8 +40,6 @@ This file is part of the QGROUNDCONTROL project
 #include "protocol.h"
 #include "QGC.h"
 
-#include <QDebug>
-
 DebugConsole::DebugConsole(QWidget *parent) :
     QWidget(parent),
     currLink(NULL),
@@ -58,11 +57,8 @@ DebugConsole::DebugConsole(QWidget *parent) :
     lastLineBuffer(0),
     lineBufferTimer(),
     snapShotTimer(),
-    snapShotInterval(500),
-    snapShotBytes(0),
-    dataRate(0.0f),
-    lowpassDataRate(0.0f),
-    dataRateThreshold(400),
+    lowpassInDataRate(0.0f),
+    lowpassOutDataRate(0.0f),
     commandIndex(0),
     m_ui(new Ui::DebugConsole)
 {
@@ -78,21 +74,14 @@ DebugConsole::DebugConsole(QWidget *parent) :
     m_ui->receiveText->setMaximumBlockCount(500);
     // Allow to wrap everywhere
     m_ui->receiveText->setWordWrapMode(QTextOption::WrapAnywhere);
-//    // Set monospace font
-//    m_ui->receiveText->setFontFamily("Monospace");
 
-    // Enable 10 Hz output
-    //connect(&lineBufferTimer, SIGNAL(timeout()), this, SLOT(showData()));
-    //lineBufferTimer.setInterval(100); // 100 Hz
-    //lineBufferTimer.start();
+    // Load settings for this widget
     loadSettings();
 
-    // Enable traffic measurements
+    // Enable traffic measurements. We only start/stop the timer as our links change, as
+    // these calculations are dependent on the specific link.
     connect(&snapShotTimer, SIGNAL(timeout()), this, SLOT(updateTrafficMeasurements()));
     snapShotTimer.setInterval(snapShotInterval);
-    snapShotTimer.start();
-    // Update measurements the first time
-    updateTrafficMeasurements();
 
     // First connect management slots, then make sure to add all existing objects
     // Connect to link manager to get notified about new links
@@ -155,13 +144,6 @@ void DebugConsole::loadSettings()
     MAVLINKfilterEnabled(settings.value("MAVLINK_FILTER_ENABLED", filterMAVLINK).toBool());
     setAutoHold(settings.value("AUTO_HOLD_ENABLED", autoHold).toBool());
     settings.endGroup();
-
-//    // Update visibility settings
-//    if (m_ui->specialCheckBox->isChecked())
-//    {
-//        m_ui->specialCheckBox->setVisible(true);
-//        m_ui->addSymbolButton->setVisible(false);
-//    }
 }
 
 void DebugConsole::storeSettings()
@@ -176,7 +158,6 @@ void DebugConsole::storeSettings()
     settings.setValue("AUTO_HOLD_ENABLED", autoHold);
     settings.endGroup();
     settings.sync();
-    //qDebug() << "Storing settings!";
 }
 
 void DebugConsole::uasCreated(UASInterface* uas)
@@ -205,7 +186,6 @@ void DebugConsole::addLink(LinkInterface* link)
 
 void DebugConsole::removeLink(LinkInterface* const linkInterface)
 {
-    //LinkInterface* linkInterface = dynamic_cast<LinkInterface*>(link);
     // Add link to link list
     if (links.contains(linkInterface)) {
         int linkIndex = links.indexOf(linkInterface);
@@ -214,7 +194,14 @@ void DebugConsole::removeLink(LinkInterface* const linkInterface)
 
         m_ui->linkComboBox->removeItem(linkIndex);
     }
-    if (linkInterface == currLink) currLink = NULL;
+    // Now if this was the current link, clean up some stuff.
+    if (linkInterface == currLink)
+    {
+        // Like disable the update time for the UI.
+        snapShotTimer.stop();
+
+        currLink = NULL;
+    }
 }
 void DebugConsole::linkStatusUpdate(const QString& name,const QString& text)
 {
@@ -227,11 +214,14 @@ void DebugConsole::linkStatusUpdate(const QString& name,const QString& text)
 void DebugConsole::linkSelected(int linkId)
 {
     // Disconnect
-    if (currLink) {
+    if (currLink)
+    {
         disconnect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray)));
         disconnect(currLink, SIGNAL(connected(bool)), this, SLOT(setConnectionState(bool)));
         disconnect(currLink,SIGNAL(communicationUpdate(QString,QString)),this,SLOT(linkStatusUpdate(QString,QString)));
+        snapShotTimer.stop();
     }
+
     // Clear data
     m_ui->receiveText->clear();
 
@@ -241,6 +231,7 @@ void DebugConsole::linkSelected(int linkId)
     connect(currLink, SIGNAL(connected(bool)), this, SLOT(setConnectionState(bool)));
     connect(currLink,SIGNAL(communicationUpdate(QString,QString)),this,SLOT(linkStatusUpdate(QString,QString)));
     setConnectionState(currLink->isConnected());
+    snapShotTimer.start();
 }
 
 /**
@@ -250,7 +241,6 @@ void DebugConsole::updateLinkName(QString name)
 {
 	// Set name if signal came from a link
     LinkInterface* link = qobject_cast<LinkInterface*>(sender());
-	//if (link != NULL) m_ui->linkComboBox->setItemText(link->getId(), name);
 	if((link != NULL) && (links.contains(link)))
 	{
 		const qint16 &linkIndex(links.indexOf(link));
@@ -326,65 +316,44 @@ void DebugConsole::receiveTextMessage(int id, int component, int severity, QStri
     }
 }
 
+/**
+ * This function updates the speed indicator text in the GUI.
+ * Additionally, if this speed is too high, the display of incoming characters is disabled.
+ */
 void DebugConsole::updateTrafficMeasurements()
 {
-    lowpassDataRate = lowpassDataRate * 0.9f + (0.1f * ((float)snapShotBytes / (float)snapShotInterval) * 1000.0f);
-    dataRate = ((float)snapShotBytes / (float)snapShotInterval) * 1000.0f;
-    snapShotBytes = 0;
-
-    // Check if limit has been exceeded
-    if ((lowpassDataRate > dataRateThreshold) && autoHold) {
-        // Enable auto-old
+    // Calculate the rate of incoming data, converting to
+    // kilobytes per second from the received bits per second.
+    qint64 inDataRate = currLink->getCurrentInDataRate() / 1000.0f;
+    lowpassInDataRate = lowpassInDataRate * 0.9f + (0.1f * inDataRate / 8.0f);
+
+    // If the incoming data rate is faster than our threshold, don't display the data.
+    // We don't use the low-passed data rate as we want the true data rate. The low-passed data
+    // is just for displaying to the user to remove jitter.
+    if ((inDataRate > inDataRateThreshold) && autoHold) {
+        // Enable auto-hold
         m_ui->holdButton->setChecked(true);
         hold(true);
     }
 
-    QString speed;
-    speed = speed.sprintf("%04.1f kB/s", dataRate/1000.0f);
-    m_ui->speedLabel->setText(speed);
+    // Update the incoming data rate label.
+    m_ui->downSpeedLabel->setText(tr("%L1 kB/s").arg(lowpassInDataRate, 4, 'f', 1, '0'));
 
-    if (holdOn) {
-        //repaint();
-    }
+    // Calculate the rate of outgoing data, converting to
+    // kilobytes per second from the received bits per second.
+    lowpassOutDataRate = lowpassOutDataRate * 0.9f + (0.1f * currLink->getCurrentOutDataRate() / 8.0f / 1000.0f);
+   
+    // Update the outoing data rate label.
+    m_ui->upSpeedLabel->setText(tr("%L1 kB/s").arg(lowpassOutDataRate, 4, 'f', 1, '0'));
 }
 
-//QPainter painter(m_ui->receiveText);
-//painter.setRenderHint(QPainter::HighQualityAntialiasing);
-//painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
-
 void DebugConsole::paintEvent(QPaintEvent *event)
 {
     Q_UNUSED(event);
-    // Update bandwidth
-//    if (holdOn)
-//    {
-//        //qDebug() << "Data rate:" << dataRate/1000.0f << "kB/s";
-//        QString rate("data rate: %1");
-//        rate.arg(dataRate);
-//        QPainter painter(this);
-//        painter.setRenderHint(QPainter::HighQualityAntialiasing);
-//        painter.translate(width()/5.0f, height()/5.0f);
-
-
-
-//        //QFont font("Bitstream Vera Sans");
-//        QFont font = painter.font();
-//        font.setPixelSize((int)(60.0f));
-
-//        QFontMetrics metrics = QFontMetrics(font);
-//        int border = qMax(4, metrics.leading());
-//        QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125),
-//                                          Qt::AlignLeft | Qt::TextWordWrap, rate);
-//        painter.setPen(QColor(255, 50, 50));
-//        painter.setRenderHint(QPainter::TextAntialiasing);
-//        painter.drawText(QRect(QPoint(static_cast<int>(width()/5.0f), static_cast<int>(height()/5.0f)), QPoint(static_cast<int>(width() - width()/5.0f), static_cast<int>(height() - height()/5.0f))), rate);
-//        //Qt::AlignRight | Qt::TextWordWrap
-//    }
 }
 
 void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
 {
-    snapShotBytes += bytes.size();
     int len = bytes.size();
     int lastSpace = 0;
     if ((this->bytesToIgnore > 260) || (this->bytesToIgnore < -2)) this->bytesToIgnore = 0;
@@ -432,7 +401,6 @@ void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
                         if (escIndex < static_cast<int>(sizeof(escBytes)))
                         {
                             escBytes[escIndex] = byte;
-                            //qDebug() << "GOT BYTE ESC:" << byte;
                             if (/*escIndex == 1 && */escBytes[escIndex] == 0x48)
                             {
                                 // Handle sequence
@@ -440,7 +408,7 @@ void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
                                 m_ui->receiveText->clear();
                                 escReceived = false;
                             }
-                            else if (/*escIndex == 1 && */escBytes[escIndex] == 0x4b)
+                            else if (escBytes[escIndex] == 0x4b)
                             {
                                 // Handle sequence
                                 // for this one, do nothing
@@ -487,7 +455,6 @@ void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
                                 // Do nothing for now
                                 break;
                             default:                    // Append replacement character (box) if char is not ASCII
-//                                str.append(QChar(QChar::ReplacementCharacter));
                                 QString str2;
                                 if ( lastSpace == 1)
                                     str2.sprintf("0x%02x ", byte);
@@ -518,8 +485,6 @@ void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
             else
             {
                 if (filterMAVLINK) this->bytesToIgnore--;
-                // Constrain bytes to positive range
-//                bytesToIgnore = qMax(0, bytesToIgnore);
             }
 
         }
@@ -603,7 +568,6 @@ QString DebugConsole::bytesToSymbolNames(const QByteArray& b)
 void DebugConsole::specialSymbolSelected(const QString& text)
 {
     Q_UNUSED(text);
-    //m_ui->specialCheckBox->setVisible(true);
 }
 
 void DebugConsole::appendSpecialSymbol(const QString& text)
@@ -709,7 +673,6 @@ void DebugConsole::sendBytes()
 
                 if (okByte) {
                     // Feedback
-                    //feedback.append("0x");
                     feedback.append(str.at(i).toUpper());
                     feedback.append(str.at(i+1).toUpper());
                     feedback.append(" ");
@@ -726,16 +689,8 @@ void DebugConsole::sendBytes()
     // Transmit ASCII or HEX formatted text, only if more than one symbol
     if (ok && m_ui->sendText->text().toLatin1().size() > 0) {
         // Transmit only if conversion succeeded
-        //        int transmitted =
         currLink->writeBytes(transmit, transmit.size());
-        //        if (transmit.size() == transmitted)
-        //        {
         m_ui->sentText->setText(tr("Sent: ") + feedback);
-        //        }
-        //        else
-        //        {
-        //            m_ui->sentText->setText(tr("Error during sending: Transmitted only %1 bytes instead of %2.").arg(transmitted, transmit.size()));
-        //        }
     } else if (m_ui->sendText->text().toLatin1().size() > 0) {
         // Conversion failed, display error message
         m_ui->sentText->setText(tr("Not sent: ") + feedback);
@@ -787,7 +742,7 @@ void DebugConsole::hold(bool hold)
             // TODO No conversion is done to the bytes in the hold buffer
             m_ui->receiveText->appendPlainText(QString(holdBuffer));
             holdBuffer.clear();
-            lowpassDataRate = 0.0f;
+            lowpassInDataRate = 0.0f;
         }
 
         this->holdOn = hold;

src/ui/DebugConsole.h

@@ -137,11 +137,10 @@ protected:
     quint64 lastLineBuffer;   ///< Last line buffer emission time
     QTimer lineBufferTimer;   ///< Line buffer timer
     QTimer snapShotTimer;     ///< Timer for measuring traffic snapshots
-    int snapShotInterval;     ///< Snapshot interval for traffic measurements
-    int snapShotBytes;        ///< Number of bytes received in current snapshot
-    float dataRate;           ///< Current data rate
-    float lowpassDataRate;    ///< Lowpass filtered data rate
-    float dataRateThreshold;  ///< Threshold where to enable auto-hold
+    static const int snapShotInterval = 500;     ///< Set the time between UI updates for the data rate (ms)
+    float lowpassInDataRate;    ///< Lowpass filtered data rate (kilobytes/s)
+    static const float inDataRateThreshold = 0.4;  ///< Threshold where to enable auto-hold (kilobytes/s)
+    float lowpassOutDataRate;   ///< Low-pass filtered outgoing data rate (kilobytes/s)
     QStringList commandHistory;
     QString currCommand;
     int commandIndex;

src/ui/DebugConsole.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>566</width>
-    <height>190</height>
+    <width>570</width>
+    <height>211</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -24,7 +24,7 @@
     <number>6</number>
    </property>
    <item row="0" column="0" colspan="2">
-    <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="10,0,0,0,0,0">
+    <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="10,0,0,0,0,0,0,0,0">
      <item>
       <widget class="QComboBox" name="linkComboBox">
        <property name="maximumSize">
@@ -39,9 +39,75 @@
       </widget>
      </item>
      <item>
-      <widget class="QLabel" name="speedLabel">
+      <widget class="QLabel" name="downArrow">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>12</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>12</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="baseSize">
+        <size>
+         <width>12</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="pixmap">
+        <pixmap resource="../../qgroundcontrol.qrc">:/files/images/actions/go-down.svg</pixmap>
+       </property>
+       <property name="scaledContents">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="downSpeedLabel">
+       <property name="text">
+        <string>00.0 kB/s</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="upArrow">
+       <property name="maximumSize">
+        <size>
+         <width>12</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="pixmap">
+        <pixmap resource="../../qgroundcontrol.qrc">:/files/images/actions/go-up.svg</pixmap>
+       </property>
+       <property name="scaledContents">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="upSpeedLabel">
        <property name="text">
-        <string>0.0 kB/s</string>
+        <string>00.0 kB/s</string>
        </property>
       </widget>
      </item>

src/ui/apmtoolbar.cpp

@@ -204,7 +204,7 @@ void APMToolBar::updateLinkDisplay(LinkInterface* newLink)
     QObject *object = rootObject();
 
     if (newLink && object){
-        qint64 baudrate = newLink->getNominalDataRate();
+        qint64 baudrate = newLink->getConnectionSpeed();
         object->setProperty("baudrateLabel", QString::number(baudrate));
 
         QString linkName = newLink->getName();