Skip to content

Q
qgroundcontrol
Commit b5f30ae4 authored by Gus Grubba's avatar Gus Grubba
Browse files
Options

MAVLink message receive status 

Fixed the core MAVLink receiver. Among other things, it wasn't accounting for fragmented messages.
Fixed code that monitors messages received (and lost)
Added a section within the MAVLink panel to show the current status (for the current vehicle)
Remove some old, unused exposed interfaces
parent 1457b6ed
Expand all Show whitespace changes
Inline Side-by-side
Showing with 238 additions and 172 deletions
src/Vehicle/Vehicle.cc
View file @ b5f30ae4
...@@ -203,6 +203,7 @@ Vehicle::Vehicle(LinkInterface* link, ...@@ -203,6 +203,7 @@ Vehicle::Vehicle(LinkInterface* link,
_mavlink = _toolbox->mavlinkProtocol(); _mavlink = _toolbox->mavlinkProtocol();
connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived); connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
connect(_mavlink, &MAVLinkProtocol::mavlinkMessageStatus, this, &Vehicle::_mavlinkMessageStatus);
_addLink(link); _addLink(link);
...@@ -3594,6 +3595,17 @@ void Vehicle::_updateHighLatencyLink(bool sendCommand) ...@@ -3594,6 +3595,17 @@ void Vehicle::_updateHighLatencyLink(bool sendCommand)
} }
} }
void Vehicle::_mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent)
{
if(uasId == _id) {
_mavlinkSentCount = totalSent;
_mavlinkReceivedCount = totalReceived;
_mavlinkLossCount = totalLoss;
_mavlinkLossPercent = lossPercent;
emit mavlinkStatusChanged();
}
}
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
......
src/Vehicle/Vehicle.h
View file @ b5f30ae4
...@@ -622,6 +622,10 @@ public: ...@@ -622,6 +622,10 @@ public:
Q_PROPERTY(QString priorityLinkName READ priorityLinkName WRITE setPriorityLinkByName NOTIFY priorityLinkNameChanged) Q_PROPERTY(QString priorityLinkName READ priorityLinkName WRITE setPriorityLinkByName NOTIFY priorityLinkNameChanged)
Q_PROPERTY(QVariantList links READ links NOTIFY linksChanged) Q_PROPERTY(QVariantList links READ links NOTIFY linksChanged)
Q_PROPERTY(LinkInterface* priorityLink READ priorityLink NOTIFY priorityLinkNameChanged) Q_PROPERTY(LinkInterface* priorityLink READ priorityLink NOTIFY priorityLinkNameChanged)
Q_PROPERTY(quint64 mavlinkSentCount READ mavlinkSentCount NOTIFY mavlinkStatusChanged)
Q_PROPERTY(quint64 mavlinkReceivedCount READ mavlinkReceivedCount NOTIFY mavlinkStatusChanged)
Q_PROPERTY(quint64 mavlinkLossCount READ mavlinkLossCount NOTIFY mavlinkStatusChanged)
Q_PROPERTY(float mavlinkLossPercent READ mavlinkLossPercent NOTIFY mavlinkStatusChanged)
// Vehicle state used for guided control // Vehicle state used for guided control
Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged) ///< Vehicle is flying Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged) ///< Vehicle is flying
...@@ -1044,6 +1048,11 @@ public: ...@@ -1044,6 +1048,11 @@ public:
/// Vehicle is about to be deleted /// Vehicle is about to be deleted
void prepareDelete(); void prepareDelete();
quint64 mavlinkSentCount () { return _mavlinkSentCount; } /// Calculated total number of messages sent to us
quint64 mavlinkReceivedCount () { return _mavlinkReceivedCount; } /// Total number of sucessful messages received
quint64 mavlinkLossCount () { return _mavlinkLossCount; } /// Total number of lost messages
float mavlinkLossPercent () { return _mavlinkLossPercent; } /// Running loss rate
signals: signals:
void allLinksInactive(Vehicle* vehicle); void allLinksInactive(Vehicle* vehicle);
void coordinateChanged(QGeoCoordinate coordinate); void coordinateChanged(QGeoCoordinate coordinate);
...@@ -1147,6 +1156,7 @@ signals: ...@@ -1147,6 +1156,7 @@ signals:
// MAVLink protocol version // MAVLink protocol version
void requestProtocolVersion(unsigned version); void requestProtocolVersion(unsigned version);
void mavlinkStatusChanged();
private slots: private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message); void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
...@@ -1179,6 +1189,7 @@ private slots: ...@@ -1179,6 +1189,7 @@ private slots:
void _updateHobbsMeter(void); void _updateHobbsMeter(void);
void _vehicleParamLoaded(bool ready); void _vehicleParamLoaded(bool ready);
void _sendQGCTimeToVehicle(void); void _sendQGCTimeToVehicle(void);
void _mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent);
private: private:
bool _containsLink(LinkInterface* link); bool _containsLink(LinkInterface* link);
...@@ -1405,6 +1416,11 @@ private: ...@@ -1405,6 +1416,11 @@ private:
SharedLinkInterfacePointer _priorityLink; // We always keep a reference to the priority link to manage shutdown ordering SharedLinkInterfacePointer _priorityLink; // We always keep a reference to the priority link to manage shutdown ordering
bool _priorityLinkCommanded; bool _priorityLinkCommanded;
uint64_t _mavlinkSentCount = 0;
uint64_t _mavlinkReceivedCount = 0;
uint64_t _mavlinkLossCount = 0;
float _mavlinkLossPercent = 0.0f;
// FactGroup facts // FactGroup facts
Fact _rollFact; Fact _rollFact;
......
src/comm/MAVLinkProtocol.cc
View file @ b5f30ae4
This diff is collapsed.
src/comm/MAVLinkProtocol.h
View file @ b5f30ae4
...@@ -65,27 +65,6 @@ public: ...@@ -65,27 +65,6 @@ public:
unsigned getCurrentVersion() { unsigned getCurrentVersion() {
return _current_version; return _current_version;
} }
/**
* 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(const LinkInterface *link) const {
return totalReceiveCounter[link->mavlinkChannel()];
}
/**
* 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(const LinkInterface *link) const {
return totalErrorCounter[link->mavlinkChannel()];
}
/**
* 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(const LinkInterface *link) const {
return totalLossCounter[link->mavlinkChannel()];
}
/** /**
* Reset the counters for all metadata for this link. * Reset the counters for all metadata for this link.
*/ */
...@@ -123,13 +102,16 @@ public slots: ...@@ -123,13 +102,16 @@ public slots:
protected: protected:
bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
QMutex receiveMutex; ///< Mutex to protect receiveBytes function uint8_t lastIndex[256][256]; ///< Store the last received sequence ID for each system/componenet pair
int lastIndex[256][256]; ///< Store the last received sequence ID for each system/componenet pair uint8_t firstMessage[256][256]; ///< First message flag
int totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< The total number of successfully received messages uint64_t totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< The total number of successfully received messages
int totalLossCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Total messages lost during transmission. uint64_t totalSentCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< The calculated total number of messages sent to us
int totalErrorCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Total count of all parsing errors. Generally <= totalLossCounter. uint64_t totalLossCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Total messages lost during transmission.
int currReceiveCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Received messages during this sample time window. Used for calculating loss %. float runningLossPercent[MAVLINK_COMM_NUM_BUFFERS]; ///< Loss rate
int currLossCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Lost messages during this sample time window. Used for calculating loss %.
mavlink_message_t _message = {};
mavlink_status_t _status = {};
bool versionMismatchIgnore; bool versionMismatchIgnore;
int systemId; int systemId;
unsigned _current_version; unsigned _current_version;
...@@ -148,8 +130,7 @@ signals: ...@@ -148,8 +130,7 @@ signals:
/** @brief Emitted if a new system ID was set */ /** @brief Emitted if a new system ID was set */
void systemIdChanged(int systemId); void systemIdChanged(int systemId);
void receiveLossPercentChanged(int uasId, float lossPercent); void mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, 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/comm/ProtocolInterface.h
View file @ b5f30ae4
...@@ -16,8 +16,7 @@ ...@@ -16,8 +16,7 @@
* *
*/ */
#ifndef _PROTOCOLINTERFACE_H_ #pragma once
#define _PROTOCOLINTERFACE_H_
#include <QThread> #include <QThread>
#include <QString> #include <QString>
...@@ -38,25 +37,7 @@ class ProtocolInterface : public QThread ...@@ -38,25 +37,7 @@ class ProtocolInterface : public QThread
Q_OBJECT Q_OBJECT
public: public:
virtual ~ProtocolInterface () {} virtual ~ProtocolInterface () {}
virtual QString getName() = 0; 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(const 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(const 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(const LinkInterface *link) const = 0;
/** /**
* Reset the received, error, and dropped counts for the given link. Useful for * Reset the received, error, and dropped counts for the given link. Useful for
* when reconnecting a link. * when reconnecting a link.
...@@ -65,13 +46,11 @@ public: ...@@ -65,13 +46,11 @@ public:
virtual void resetMetadataForLink(LinkInterface *link) = 0; virtual void resetMetadataForLink(LinkInterface *link) = 0;
public slots: public slots:
virtual void receiveBytes(LinkInterface *link, QByteArray b) = 0; virtual void receiveBytes (LinkInterface *link, QByteArray b) = 0;
virtual void linkStatusChanged(bool connected) = 0; virtual void linkStatusChanged (bool connected) = 0;
signals: signals:
/** @brief Update the packet loss from one system */ /** @brief Update the packet loss from one system */
void receiveLossChanged(int uasId, float loss); void receiveLossChanged (int uasId, float loss);
}; };
#endif // _PROTOCOLINTERFACE_H_
src/ui/preferences/MavlinkSettings.qml
View file @ b5f30ae4
...@@ -30,6 +30,7 @@ Rectangle { ...@@ -30,6 +30,7 @@ Rectangle {
property int _selectedCount: 0 property int _selectedCount: 0
property real _columnSpacing: ScreenTools.defaultFontPixelHeight * 0.25 property real _columnSpacing: ScreenTools.defaultFontPixelHeight * 0.25
property bool _uploadedSelected: false property bool _uploadedSelected: false
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
QGCPalette { id: qgcPal } QGCPalette { id: qgcPal }
...@@ -152,6 +153,92 @@ Rectangle { ...@@ -152,6 +153,92 @@ Rectangle {
} }
} }
//----------------------------------------------------------------- //-----------------------------------------------------------------
//-- Mavlink Status
Item {
width: __mavlinkRoot.width * 0.8
height: mavStatusLabel.height
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
id: mavStatusLabel
text: qsTr("MAVLink Link Status (Current Vehicle)")
font.family: ScreenTools.demiboldFontFamily
}
}
Rectangle {
height: mavStatusColumn.height + (ScreenTools.defaultFontPixelHeight * 2)
width: __mavlinkRoot.width * 0.8
color: qgcPal.windowShade
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
Column {
id: mavStatusColumn
width: gcsColumn.width
spacing: _columnSpacing
anchors.centerIn: parent
//-----------------------------------------------------------------
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
width: _labelWidth
text: qsTr("Total messages sent (computed):")
anchors.verticalCenter: parent.verticalCenter
}
QGCLabel {
width: _valueWidth
text: _activeVehicle ? _activeVehicle.mavlinkSentCount : qsTr("Not Connected")
anchors.verticalCenter: parent.verticalCenter
}
}
//-----------------------------------------------------------------
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
width: _labelWidth
text: qsTr("Total messages received:")
anchors.verticalCenter: parent.verticalCenter
}
QGCLabel {
width: _valueWidth
text: _activeVehicle ? _activeVehicle.mavlinkReceivedCount : qsTr("Not Connected")
anchors.verticalCenter: parent.verticalCenter
}
}
//-----------------------------------------------------------------
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
width: _labelWidth
text: qsTr("Total message loss:")
anchors.verticalCenter: parent.verticalCenter
}
QGCLabel {
width: _valueWidth
text: _activeVehicle ? _activeVehicle.mavlinkLossCount : qsTr("Not Connected")
anchors.verticalCenter: parent.verticalCenter
}
}
//-----------------------------------------------------------------
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
width: _labelWidth
text: qsTr("Loss rate:")
anchors.verticalCenter: parent.verticalCenter
}
QGCLabel {
width: _valueWidth
text: _activeVehicle ? _activeVehicle.mavlinkLossPercent.toFixed(0) + '%' : qsTr("Not Connected")
anchors.verticalCenter: parent.verticalCenter
}
}
}
}
//-----------------------------------------------------------------
//-- Mavlink Logging //-- Mavlink Logging
Item { Item {
width: __mavlinkRoot.width * 0.8 width: __mavlinkRoot.width * 0.8
......
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