The details on the success/errors for the MAVLink protocols are now shown for...

The details on the success/errors for the MAVLink protocols are now shown for each link as tooltips that are updated every 5s. Values are currently wrong and unsure why as of yet.

src/comm/LinkManager.cc

@@ -107,6 +107,10 @@ QList<LinkInterface*> LinkManager::getLinksForProtocol(ProtocolInterface* protoc
     return protocolLinks.values(protocol);
 }
 
+ProtocolInterface* LinkManager::getProtocolForLink(LinkInterface* link)
+{
+    return protocolLinks.key(link);
+}
 
 bool LinkManager::connectAll()
 {

src/comm/LinkManager.h

@@ -56,6 +56,8 @@ public:
 
     QList<LinkInterface*> getLinksForProtocol(ProtocolInterface* protocol);
 
+    ProtocolInterface* getProtocolForLink(LinkInterface* link);
+
     /** @brief Get the link for this id */
     LinkInterface* getLinkForId(int id);
 

src/comm/MAVLinkProtocol.cc

@@ -63,10 +63,14 @@ MAVLinkProtocol::MAVLinkProtocol() :
     // Start heartbeat timer, emitting a heartbeat at the configured rate
     connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
     heartbeatTimer->start(1000/heartbeatRate);
-    totalReceiveCounter = 0;
-    totalLossCounter = 0;
-    currReceiveCounter = 0;
-    currLossCounter = 0;
+    for (int i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++)
+    {
+        totalReceiveCounter[i] = 0;
+        totalLossCounter[i] = 0;
+        totalErrorCounter[i] = 0;
+        currReceiveCounter[i] = 0;
+        currLossCounter[i] = 0;
+    }
     for (int i = 0; i < 256; i++)
     {
         for (int j = 0; j < 256; j++)
@@ -214,12 +218,16 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
     mavlink_message_t message;
     mavlink_status_t status;
 
+    // Cache the link ID for common use.
+    int linkId = link->getId();
+
     static int mavlink09Count = 0;
     static bool decodedFirstPacket = false;
     static bool warnedUser = false;
 
+    // FIXME: Add check for if link->getId() >= MAVLINK_COMM_NUM_BUFFERS
     for (int position = 0; position < b.size(); position++) {
-        unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b[position]), &message, &status);
+        unsigned int decodeState = mavlink_parse_char(linkId, (uint8_t)(b[position]), &message, &status);
 
         if ((uint8_t)b[position] == 0x55) mavlink09Count++;
         if ((mavlink09Count > 100) && !decodedFirstPacket && !warnedUser)
@@ -230,6 +238,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
             emit protocolStatusMessage("MAVLink Version or Baud Rate Mismatch", "Your MAVLink device seems to use the deprecated version 0.9, while QGroundControl only supports version 1.0+. Please upgrade the MAVLink version of your autopilot. If your autopilot is using version 1.0, check if the baud rates of QGroundControl and your autopilot are the same.");
         }
 
+        // Count parser errors as well.
+        totalErrorCounter[linkId] += status.packet_rx_drop_count;
+
         if (decodeState == 1)
         {
             decodedFirstPacket = true;
@@ -391,8 +402,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
             {
 
                 // Increase receive counter
-                totalReceiveCounter++;
-                currReceiveCounter++;
+                totalReceiveCounter[linkId]++;
+                currReceiveCounter[linkId]++;
 
                 // Update last message sequence ID
                 uint8_t expectedIndex;
@@ -412,7 +423,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 if (message.seq != expectedIndex)
                 {
                     // Determine how many messages were skipped accounting for 0-wraparound
-                    int16_t lostMessages = message.seq - expectedIndex; 
+                    int16_t lostMessages = message.seq - expectedIndex;
                     if (lostMessages < 0)
                     {
                         // Usually, this happens in the case of an out-of order packet
@@ -423,22 +434,22 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                         // Console generates excessive load at high loss rates, needs better GUI visualization
                         //qDebug() << QString("Lost %1 messages for comp %4: expected sequence ID %2 but received %3.").arg(lostMessages).arg(expectedIndex).arg(message.seq).arg(message.compid);
                     }
-                    totalLossCounter += lostMessages;
-                    currLossCounter += lostMessages;
+                    totalLossCounter[linkId] += lostMessages;
+                    currLossCounter[linkId] += lostMessages;
                 }
 
                 // Update the last sequence ID
                 lastIndex[message.sysid][message.compid] = message.seq;
 
                 // Update on every 32th packet
-                if (totalReceiveCounter % 32 == 0)
+                if (totalReceiveCounter[linkId] % 32 == 0)
                 {
                     // Calculate new loss ratio
                     // Receive loss
-                    float receiveLoss = (double)currLossCounter/(double)(currReceiveCounter+currLossCounter);
+                    float receiveLoss = (double)currLossCounter[linkId]/(double)(currReceiveCounter[linkId]+currLossCounter[linkId]);
                     receiveLoss *= 100.0f;
-                    currLossCounter = 0;
-                    currReceiveCounter = 0;
+                    currLossCounter[linkId] = 0;
+                    currReceiveCounter[linkId] = 0;
                     emit receiveLossChanged(message.sysid, receiveLoss);
                 }
 

src/comm/MAVLinkProtocol.h

@@ -124,6 +124,27 @@ public:
     int getActionRetransmissionTimeout() {
         return m_actionRetransmissionTimeout;
     }
+    /**
+     * 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(LinkInterface *link) const {
+        return totalReceiveCounter[link->getId()];
+    }
+    /**
+     * 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(LinkInterface *link) const {
+        return totalErrorCounter[link->getId()];
+    }
+    /**
+     * 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(LinkInterface *link) const {
+        return totalLossCounter[link->getId()];
+    }
 
 public slots:
     /** @brief Receive bytes from a communication interface */
@@ -201,12 +222,13 @@ protected:
     bool m_paramGuardEnabled;       ///< Parameter retransmission/rewrite enabled
     bool m_actionGuardEnabled;       ///< Action request retransmission enabled
     int m_actionRetransmissionTimeout; ///< Timeout for parameter retransmission
-    QMutex receiveMutex;       ///< Mutex to protect receiveBytes function
-    int lastIndex[256][256];	///< Store the last received sequence ID for each system/componenet pair
-    int totalReceiveCounter;
-    int totalLossCounter;
-    int currReceiveCounter;
-    int currLossCounter;
+    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;
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)

src/comm/ProtocolInterface.h

@@ -50,8 +50,26 @@ class ProtocolInterface : public QObject
 {
     Q_OBJECT
 public:
-    //virtual ~ProtocolInterface() {};
+    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(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(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(LinkInterface *link) const = 0;
 
 public slots:
     virtual void receiveBytes(LinkInterface *link, QByteArray b) = 0;

src/ui/uas/UASListWidget.cc

@@ -73,6 +73,10 @@ UASListWidget::UASListWidget(QWidget *parent) : QWidget(parent),
     {
         addUAS(uas);
     }
+
+    // Use a timer to update the link health display.
+    updateTimer = new QTimer(this);
+    connect(updateTimer,SIGNAL(timeout()),this,SLOT(updateStatus()));
 }
 
 UASListWidget::~UASListWidget()
@@ -93,14 +97,48 @@ void UASListWidget::changeEvent(QEvent *e)
     }
 }
 
+void UASListWidget::updateStatus()
+{
+    QMapIterator<LinkInterface*, QGroupBox*> i(linkToBoxMapping);
+    while (i.hasNext()) {
+        i.next();
+        LinkInterface* link = i.key();
+        ProtocolInterface* p = LinkManager::instance()->getProtocolForLink(link);
+
+        // Build the tooltip out of the protocol parsing data: received, dropped, and parsing errors.
+        QString displayString("");
+        int c;
+        if ((c = p->getReceivedPacketCount(link)) != -1)
+        {
+            displayString += QString(tr("<br/>Received: %2")).arg(QString::number(c));
+        }
+        if ((c = p->getDroppedPacketCount(link)) != -1)
+        {
+            displayString += QString(tr("<br/>Dropped: %2")).arg(QString::number(c));
+        }
+        if ((c = p->getParsingErrorCount(link)) != -1)
+        {
+            displayString += QString(tr("<br/>Errors: %2")).arg(QString::number(c));
+        }
+        if (!displayString.isEmpty())
+        {
+            displayString = QString("<b>%1</b>").arg(i.key()->getName()) + displayString;
+        }
+        qDebug() << p << ": " + displayString;
+        i.value()->setToolTip(displayString);
+    }
+}
 
 void UASListWidget::addUAS(UASInterface* uas)
 {
+    // If the list was empty, remove the unconnected widget and start the update timer.
     if (uasViews.isEmpty())
     {
         m_ui->verticalLayout->removeWidget(uWidget);
         uWidget->deleteLater();
         uWidget = NULL;
+
+        updateTimer->start(5000);
     }
 
     if (!uasViews.contains(uas))
@@ -125,6 +163,7 @@ void UASListWidget::addUAS(UASInterface* uas)
                 newBox->setLayout(boxLayout);
                 m_ui->verticalLayout->addWidget(newBox);
                 linkToBoxMapping[li] = newBox;
+                updateStatus(); // Update the link status for this GroupBox.
             }
 
             // And add the new UAS to the UASList
@@ -186,6 +225,7 @@ void UASListWidget::removeUAS(UASInterface* uas)
         box->deleteLater();
 
         // And if no other QGroupBoxes are left, put the initial widget back.
+        // We also stop the update timer as there's nothing to update at this point.
         int otherBoxes = 0;
         foreach (const QGroupBox* otherBox, findChildren<QGroupBox*>())
         {
@@ -198,6 +238,7 @@ void UASListWidget::removeUAS(UASInterface* uas)
         {
             uWidget = new QGCUnconnectedInfoWidget(this);
             m_ui->verticalLayout->addWidget(uWidget);
+            updateTimer->stop();
         }
     }
 }

src/ui/uas/UASListWidget.h

@@ -62,10 +62,14 @@ protected:
     // Tie each view to their UAS object so they can be removed easily.
     QMap<UASInterface*, UASView*> uasViews;
     QGCUnconnectedInfoWidget* uWidget;
+    QTimer* updateTimer;
     void changeEvent(QEvent *e);
 
 private:
     Ui::UASList* m_ui;
+
+private slots:
+    void updateStatus();
 };
 
 #endif // _UASLISTWIDGET_H_

src/ui/uas/UASView.cc

@@ -79,6 +79,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     m_ui(new Ui::UASView)
 {
     m_ui->setupUi(this);
+    setToolTip(""); // Make sure the QGroupBox's tooltip doesn't seep through.
 
     // FIXME XXX
     lowPowerModeEnabled = MainWindow::instance()->lowPowerModeEnabled();