Implement MAVLink Inspector (WIP)

qgroundcontrol.qrc

@@ -42,6 +42,7 @@
         <file alias="LogReplaySettings.qml">src/ui/preferences/LogReplaySettings.qml</file>
         <file alias="MainRootWindow.qml">src/ui/MainRootWindow.qml</file>
         <file alias="MavlinkConsolePage.qml">src/AnalyzeView/MavlinkConsolePage.qml</file>
+        <file alias="MAVLinkInspectorPage.qml">src/AnalyzeView/MAVLinkInspectorPage.qml</file>
         <file alias="MavlinkSettings.qml">src/ui/preferences/MavlinkSettings.qml</file>
         <file alias="MicrohardSettings.qml">src/Microhard/MicrohardSettings.qml</file>
         <file alias="MissionSettingsEditor.qml">src/PlanView/MissionSettingsEditor.qml</file>

src/AnalyzeView/AnalyzePage.qml

@@ -23,7 +23,7 @@ Item {
     property alias  pageComponent:      pageLoader.sourceComponent
     property alias  pageName:           pageNameLabel.text
     property alias  pageDescription:    pageDescriptionLabel.text
-    property real   availableWidth:     width - pageLoader.x
+    property real   availableWidth:     width  - pageLoader.x
     property real   availableHeight:    height - pageLoader.y
     property real   _margins:           ScreenTools.defaultFontPixelHeight * 0.5
 

src/AnalyzeView/AnalyzeView.qml

@@ -26,8 +26,6 @@ Rectangle {
     color:  qgcPal.window
     z:      QGroundControl.zOrderTopMost
 
-    QGCPalette { id: qgcPal; colorGroupEnabled: true }
-
     ExclusiveGroup { id: setupButtonGroup }
 
     readonly property real  _defaultTextHeight:     ScreenTools.defaultFontPixelHeight
@@ -106,9 +104,14 @@ Rectangle {
                     }
                     ListElement {
                         buttonImage:        "/qmlimages/MavlinkConsoleIcon"
-                        buttonText:         qsTr("Mavlink Console")
+                        buttonText:         qsTr("MAVLink Console")
                         pageSource:         "MavlinkConsolePage.qml"
                     }
+                    ListElement {
+                        buttonImage:        "/qmlimages/MavlinkConsoleIcon"
+                        buttonText:         qsTr("MAVLink Inspector")
+                        pageSource:         "MAVLinkInspectorPage.qml"
+                    }
                 }
 
                 Component.onCompleted: itemAt(0).checked = true

src/AnalyzeView/LogDownloadController.h

@@ -40,7 +40,7 @@ public:
         ObjectRole = Qt::UserRole + 1
     };
 
-    QGCLogModel(QObject *parent = 0);
+    QGCLogModel(QObject *parent = nullptr);
 
     Q_PROPERTY(int count READ count NOTIFY countChanged)
     Q_INVOKABLE QGCLogEntry* get(int index);

src/AnalyzeView/MAVLinkInspectorController.h

@@ -15,7 +15,90 @@
 #include <QObject>
 #include <QString>
 #include <QDebug>
+#include <QAbstractListModel>
 
+Q_DECLARE_LOGGING_CATEGORY(MAVLinkInspectorLog)
+
+//-----------------------------------------------------------------------------
+class QGCMAVLinkMessageField : public QObject {
+    Q_OBJECT
+    Q_PROPERTY(QString      name        READ name       CONSTANT)
+    Q_PROPERTY(QString      type        READ type       CONSTANT)
+    Q_PROPERTY(QString      value       READ value      NOTIFY valueChanged)
+
+public:
+    QGCMAVLinkMessageField(QObject* parent, QString name, QString type);
+
+    QString     name            () { return _name;  }
+    QString     type            () { return _type;  }
+    QString     value           () { return _value; }
+
+    void        updateValue     (QString newValue) { _value = newValue; emit valueChanged(); }
+
+signals:
+    void        valueChanged    ();
+
+private:
+    QString     _type;
+    QString     _name;
+    QString     _value;
+};
+
+//-----------------------------------------------------------------------------
+class QGCMAVLinkMessage : public QObject {
+    Q_OBJECT
+    Q_PROPERTY(quint32              id          READ id         CONSTANT)
+    Q_PROPERTY(QString              name        READ name       CONSTANT)
+    Q_PROPERTY(quint64              messageHz   READ messageHz  NOTIFY messageChanged)
+    Q_PROPERTY(quint64              count       READ count      NOTIFY messageChanged)
+    Q_PROPERTY(QmlObjectListModel*  fields      READ fields     CONSTANT)
+
+public:
+    QGCMAVLinkMessage(QObject* parent, mavlink_message_t* message);
+
+    quint32             id          () { return _message.msgid; }
+    QString             name        () { return _name;  }
+    quint64             messageHz   () { return _messageHz; }
+    quint64             count       () { return _count; }
+    QmlObjectListModel* fields      () { return &_fields; }
+
+    void                update      (mavlink_message_t* message);
+
+signals:
+    void messageChanged             ();
+
+private:
+    QmlObjectListModel  _fields;
+    QString             _name;
+    uint64_t            _messageHz  = 0;
+    uint64_t            _count      = 0;
+    mavlink_message_t   _message;   //-- List of QGCMAVLinkMessageField
+};
+
+//-----------------------------------------------------------------------------
+class QGCMAVLinkVehicle : public QObject {
+    Q_OBJECT
+    Q_PROPERTY(quint8               id          READ id         CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  messages    READ messages   NOTIFY messagesChanged)
+
+public:
+    QGCMAVLinkVehicle(QObject* parent, quint8 id);
+
+    quint8              id          () { return _id; }
+    QmlObjectListModel* messages    () { return &_messages; }
+
+    QGCMAVLinkMessage*  findMessage (uint32_t id);
+    void                append      (QGCMAVLinkMessage* message);
+
+signals:
+    void messagesChanged            ();
+
+private:
+    quint8              _id;
+    QmlObjectListModel  _messages;  //-- List of QGCMAVLinkMessage
+};
+
+//-----------------------------------------------------------------------------
 class MAVLinkInspectorController : public QObject
 {
     Q_OBJECT
@@ -23,20 +106,29 @@ public:
     MAVLinkInspectorController();
     ~MAVLinkInspectorController();
 
+    Q_PROPERTY(QStringList          vehicleNames    READ vehicleNames   NOTIFY vehiclesChanged)
+    Q_PROPERTY(QmlObjectListModel*  vehicles        READ vehicles       NOTIFY vehiclesChanged)
+
+    QmlObjectListModel*  vehicles       () { return &_vehicles; }
+    QStringList          vehicleNames   () { return _vehicleNames; }
+
+signals:
+    void vehiclesChanged                ();
+
 private slots:
-    void _receiveMessage        (LinkInterface* link, mavlink_message_t message);
-    void _vehicleAdded          (Vehicle* vehicle);
-    void _vehicleRemoved        (Vehicle* vehicle);
+    void _receiveMessage                (LinkInterface* link, mavlink_message_t message);
+    void _vehicleAdded                  (Vehicle* vehicle);
+    void _vehicleRemoved                (Vehicle* vehicle);
 
 private:
-    void _reset                 ();
+    void _reset                         ();
+
+    QGCMAVLinkVehicle*  _findVehicle    (uint8_t id);
 
 private:
     int         _selectedSystemID       = 0;                    ///< Currently selected system
     int         _selectedComponentID    = 0;                    ///< Currently selected component
-    QList<int>  _vehicleIDs;
-    QMap<int, mavlink_message_t*>       _uasMessageStorage;     ///< Stores the messages for every UAS
-    QMap<int, QMap<int, quint64>*>      _uasLastMessageUpdate;  ///< Stores the time of the last message for each message of each UAS
-    QMap<int, QMap<int, float>*>        _uasMessageHz;          ///< Stores the frequency of each message of each UAS
-    QMap<int, QMap<int, unsigned int>*> _uasMessageCount;       ///< Stores the message count of each message of each UAS
+
+    QStringList         _vehicleNames;
+    QmlObjectListModel  _vehicles;  //-- List of QGCMAVLinkVehicle
 };

src/AnalyzeView/MAVLinkInspectorPage.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick                      2.11
+import QtQuick.Controls             2.4
+import QtQuick.Layouts              1.11
+import QtQuick.Dialogs              1.3
+
+import QGroundControl               1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Controllers   1.0
+import QGroundControl.ScreenTools   1.0
+
+Item {
+    anchors.fill:           parent
+    anchors.margins:        ScreenTools.defaultFontPixelWidth
+
+    readonly property real _butttonWidth: ScreenTools.defaultFontPixelWidth * 30
+
+    property int curVehicleIndex:   0
+    property var curVehicle:        controller.vehicles.count > 0 ? controller.vehicles.get(curVehicleIndex) : null
+    property int curMessageIndex:   0
+    property var curMessage:        curVehicle && curVehicle.messages.count ? curVehicle.messages.get(curMessageIndex) : null
+
+    MAVLinkInspectorController {
+        id: controller
+    }
+
+    DeadMouseArea {
+        anchors.fill: parent
+    }
+
+    //-- Header
+    ColumnLayout {
+        id:                     header
+        width:                  parent.width
+        spacing:                ScreenTools.defaultFontPixelHeight
+        QGCLabel {
+            text:               qsTr("Analyze real time MAVLink messages.")
+        }
+        RowLayout {
+            Layout.fillWidth:   true
+            spacing:            ScreenTools.defaultFontPixelWidth
+            QGCLabel {
+                text:           qsTr("Vehicle:")
+            }
+            QGCComboBox {
+                id:             vehicleSelector
+                model:          controller.vehicleNames
+                enabled:        controller.vehicles.count > 0
+                onActivated:    curVehicleIndex = index
+                Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 16
+            }
+        }
+        Item {
+            height:         ScreenTools.defaultFontPixelHeight
+            width:          1
+        }
+    }
+    //-- Messages
+    QGCFlickable {
+        id:                 buttonGrid
+        anchors.top:        header.bottom
+        anchors.bottom:     parent.bottom
+        anchors.left:       parent.left
+        width:              ScreenTools.defaultFontPixelWidth * 32
+        contentWidth:       buttonCol.width
+        contentHeight:      buttonCol.height
+        ColumnLayout {
+            id:             buttonCol
+            spacing:        ScreenTools.defaultFontPixelHeight * 0.25
+            Repeater {
+                model:      curVehicle ? curVehicle.messages : []
+                delegate:   QGCButton {
+                    text:   object.name
+                    onClicked: curMessageIndex = index
+                    Layout.minimumWidth: _butttonWidth
+                }
+            }
+        }
+    }
+    //-- Message Data
+    QGCFlickable {
+        id:                 messageGrid
+        anchors.top:        header.bottom
+        anchors.bottom:     parent.bottom
+        anchors.left:       buttonGrid.right
+        anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2
+        anchors.right:      parent.right
+        contentWidth:       messageCol.width
+        contentHeight:      messageCol.height
+        Column {
+            id:                 messageCol
+            spacing:            ScreenTools.defaultFontPixelHeight
+            GridLayout {
+                columns:        2
+                columnSpacing:  ScreenTools.defaultFontPixelWidth
+                rowSpacing:     ScreenTools.defaultFontPixelHeight * 0.25
+                QGCLabel {
+                    text:       qsTr("Message:")
+                    Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 20
+                }
+                QGCLabel {
+                    color:      qgcPal.buttonHighlight
+                    text:       curMessage ? curMessage.name : ""
+                }
+                QGCLabel {
+                    text:       qsTr("Count:")
+                }
+                QGCLabel {
+                    text:       curMessage ? curMessage.count : ""
+                }
+                QGCLabel {
+                    text:       qsTr("Frequency:")
+                }
+                QGCLabel {
+                    text:       curMessage ? curMessage.messageHz + 'Hz' : ""
+                }
+            }
+            GridLayout {
+                columns:        3
+                columnSpacing:  ScreenTools.defaultFontPixelWidth
+                rowSpacing:     ScreenTools.defaultFontPixelHeight * 0.25
+                Repeater {
+                    model:      curMessage ? curMessage.fields : []
+                    delegate:   QGCLabel {
+                        Layout.row:         index
+                        Layout.column:      0
+                        Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 20
+                        text:               object.name
+                    }
+                }
+                Repeater {
+                    model:      curMessage ? curMessage.fields : []
+                    delegate:   QGCLabel {
+                        Layout.row:         index
+                        Layout.column:      1
+                        Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 30
+                        Layout.maximumWidth: ScreenTools.defaultFontPixelWidth * 30
+                        wrapMode:           Text.WordWrap
+                        text:               object.value
+                    }
+                }
+                Repeater {
+                    model:      curMessage ? curMessage.fields : []
+                    delegate:   QGCLabel {
+                        Layout.row:         index
+                        Layout.column:      2
+                        text:               object.type
+                    }
+                }
+            }
+        }
+    }
+}

src/QGCApplication.cc

@@ -77,6 +77,7 @@
 #include "VideoSurface.h"
 #include "VideoReceiver.h"
 #include "LogDownloadController.h"
+#include "MAVLinkInspectorController.h"
 #include "ValuesWidgetController.h"
 #include "AppMessages.h"
 #include "SimulatedPosition.h"
@@ -452,6 +453,7 @@ void QGCApplication::_initCommon()
     qmlRegisterType<RCChannelMonitorController>     (kQGCControllers,                       1, 0, "RCChannelMonitorController");
     qmlRegisterType<JoystickConfigController>       (kQGCControllers,                       1, 0, "JoystickConfigController");
     qmlRegisterType<LogDownloadController>          (kQGCControllers,                       1, 0, "LogDownloadController");
+    qmlRegisterType<MAVLinkInspectorController>     (kQGCControllers,                       1, 0, "MAVLinkInspectorController");
     qmlRegisterType<SyslinkComponentController>     (kQGCControllers,                       1, 0, "SyslinkComponentController");
     qmlRegisterType<EditPositionDialogController>   (kQGCControllers,                       1, 0, "EditPositionDialogController");
 

src/QmlControls/QGCFlickable.qml

@@ -10,8 +10,6 @@ Flickable {
 
     property color indicatorColor: qgcPal.text
 
-    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
-
     Component.onCompleted: {
         var indicatorComponent = Qt.createComponent("QGCFlickableVerticalIndicator.qml")
         indicatorComponent.createObject(root)

src/QmlControls/QmlObjectListModel.cc

@@ -119,7 +119,7 @@ bool QmlObjectListModel::removeRows(int position, int rows, const QModelIndex& p
 QObject* QmlObjectListModel::operator[](int index)
 {
     if (index < 0 || index >= _objectList.count()) {
-        return NULL;
+        return nullptr;
     }
     return _objectList[index];
 }
@@ -127,7 +127,7 @@ QObject* QmlObjectListModel::operator[](int index)
 const QObject* QmlObjectListModel::operator[](int index) const
 {
     if (index < 0 || index >= _objectList.count()) {
-        return NULL;
+        return nullptr;
     }
     return _objectList[index];
 }

src/QmlControls/QmlObjectListModel.h

@@ -18,8 +18,8 @@ class QmlObjectListModel : public QAbstractListModel
     Q_OBJECT
     
 public:
-    QmlObjectListModel(QObject* parent = NULL);
-    ~QmlObjectListModel();
+    QmlObjectListModel(QObject* parent = nullptr);
+    ~QmlObjectListModel() override;
     
     Q_PROPERTY(int count READ count NOTIFY countChanged)