Working on MAVLink inspector

qgroundcontrol.pro

@@ -208,7 +208,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/mission/QGCMissionDoWidget.ui \
     src/ui/mission/QGCMissionConditionWidget.ui \
     src/ui/map/QGCMapTool.ui \
-    src/ui/map/QGCMapToolBar.ui
+    src/ui/map/QGCMapToolBar.ui \
+    src/ui/QGCMAVLinkInspector.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -320,7 +321,8 @@ HEADERS += src/MG.h \
     src/ui/map/QGCMapToolBar.h \
     src/libs/qextserialport/qextserialenumerator.h \
     src/QGCGeo.h \
-    src/ui/QGCToolBar.h
+    src/ui/QGCToolBar.h \
+    src/ui/QGCMAVLinkInspector.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -444,7 +446,8 @@ SOURCES += src/main.cc \
     src/ui/map/Waypoint2DIcon.cc \
     src/ui/map/QGCMapTool.cc \
     src/ui/map/QGCMapToolBar.cc \
-    src/ui/QGCToolBar.cc
+    src/ui/QGCToolBar.cc \
+    src/ui/QGCMAVLinkInspector.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/ui/MainWindow.cc

@@ -376,6 +376,14 @@ void MainWindow::buildCommonWidgets()
         addToToolsMenu(logPlayerDockWidget, tr("MAVLink Log Replay"), SLOT(showToolWidget(bool)), MENU_MAVLINK_LOG_PLAYER, Qt::RightDockWidgetArea);
     }
 
+    if (!mavlinkInspectorWidget)
+    {
+        mavlinkInspectorWidget = new QDockWidget(tr("MAVLink Message Inspector"), this);
+        mavlinkInspectorWidget->setWidget( new QGCMAVLinkInspector(mavlink, this) );
+        mavlinkInspectorWidget->setObjectName("MAVLINK_INSPECTOR_DOCKWIDGET");
+        addToToolsMenu(mavlinkInspectorWidget, tr("MAVLink Inspector"), SLOT(showToolWidget(bool)), MENU_MAVLINK_INSPECTOR, Qt::RightDockWidgetArea);
+    }
+
     // Center widgets
     if (!mapWidget)
     {

src/ui/MainWindow.h

@@ -75,7 +75,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "SlugsPadCameraControl.h"
 #include "UASControlParameters.h"
-#include "QGCFlightGearLink.h"
+#include "QGCMAVLinkInspector.h"
 
 class QGCMapTool;
 
@@ -254,6 +254,7 @@ protected:
         MENU_MAVLINK_LOG_PLAYER,
         MENU_VIDEO_STREAM_1,
         MENU_VIDEO_STREAM_2,
+        MENU_MAVLINK_INSPECTOR,
         CENTRAL_SEPARATOR= 255, // do not change
         CENTRAL_LINECHART,
         CENTRAL_PROTOCOL,
@@ -424,6 +425,8 @@ protected:
 
     QPointer<QGCToolBar> toolBar;
 
+    QPointer<QDockWidget> mavlinkInspectorWidget;
+
 
     // Popup widgets
     JoystickWidget* joystickWidget;

src/ui/QGCMAVLinkInspector.cc

+#include <QList>
+
+#include "QGCMAVLinkInspector.h"
+#include "ui_QGCMAVLinkInspector.h"
+
+#include <QDebug>
+
+QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCMAVLinkInspector)
+{
+    ui->setupUi(this);
+    connect(protocol, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), this, SLOT(receiveMessage(LinkInterface*,mavlink_message_t)));
+    ui->treeWidget->setColumnCount(3);
+    connect(&updateTimer, SIGNAL(timeout()), this, SLOT(refreshView()));
+    updateTimer.start(1000);
+}
+
+void QGCMAVLinkInspector::refreshView()
+{
+    foreach (mavlink_message_t msg, receivedMessages.values())
+    {
+        // Update the tree view
+        if (!treeWidgetItems.contains(msg.msgid))
+        {
+            QString messageName("MSG (#%1)");
+            messageName = messageName.arg(msg.msgid);
+            QStringList fields;
+            fields << messageName;
+            fields << "";
+            fields << "";
+            QTreeWidgetItem* widget = new QTreeWidgetItem(fields);
+            treeWidgetItems.insert(msg.msgid, widget);
+            ui->treeWidget->addTopLevelItem(widget);
+        }
+    }
+
+//    // List all available MAVLink messages
+//    QList<QTreeWidgetItem *> items;
+//    for (int i = 0; i < 256; ++i)
+//    {
+//        QStringList stringList;
+//        stringList << QString("message: %1").arg(i) << QString("") << QString("Not received yet.");
+//        items.append(new QTreeWidgetItem((QTreeWidget*)0, stringList));
+//    }
+//    ui->treeWidget->insertTopLevelItems(0, items);
+}
+
+void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t message)
+{
+    Q_UNUSED(link);
+    receivedMessages.insert(message.msgid, message);
+//    Q_UNUSED(link);
+//    qDebug() << __FILE__ << __LINE__ << "GOT MAVLINK MESSAGE";
+//    // Check if children exist
+//    const QObjectList& fields = ui->treeWidget->children().at(message.msgid)->children();
+
+//    if (fields.length() == 0)
+//    {
+//        // Create children
+//    }
+
+//    for (int i = 0; i < fields.length(); ++i)
+//    {
+//        // Fill in field data
+//    }
+}
+
+QGCMAVLinkInspector::~QGCMAVLinkInspector()
+{
+    delete ui;
+}

src/ui/QGCMAVLinkInspector.h

+#ifndef QGCMAVLINKINSPECTOR_H
+#define QGCMAVLINKINSPECTOR_H
+
+#include <QWidget>
+#include <QMap>
+#include <QTimer>
+
+#include "MAVLinkProtocol.h"
+
+namespace Ui {
+    class QGCMAVLinkInspector;
+}
+
+class QTreeWidgetItem;
+
+class QGCMAVLinkInspector : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent = 0);
+    ~QGCMAVLinkInspector();
+
+public slots:
+    void receiveMessage(LinkInterface* link,mavlink_message_t message);
+    void refreshView();
+
+protected:
+    QMap<int, quint64> lastFieldUpdate; ///< Used to switch between highlight and non-highlighting color
+    QMap<int, mavlink_message_t> receivedMessages; ///< Available / known messages
+    QMap<int, QTreeWidgetItem*> treeWidgetItems;   ///< Available tree widget items
+    QTimer updateTimer; ///< Only update at 1 Hz to not overload the GUI
+
+private:
+    Ui::QGCMAVLinkInspector *ui;
+};
+
+#endif // QGCMAVLINKINSPECTOR_H

src/ui/QGCMAVLinkInspector.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMAVLinkInspector</class>
+ <widget class="QWidget" name="QGCMAVLinkInspector">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="margin">
+    <number>6</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QTreeWidget" name="treeWidget">
+     <column>
+      <property name="text">
+       <string notr="true">1</string>
+      </property>
+     </column>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>