Removed a lot of verbose debug output, added connection indication to main...

Removed a lot of verbose debug output, added connection indication to main menu bar to improve situational awareness of operator

src/QGC.h

@@ -69,6 +69,8 @@ const QColor colorRed(154, 20, 20);
 const QColor colorGreen(20, 200, 20);
 const QColor colorYellow(255, 255, 0);
 const QColor colorOrange(255, 140, 0);
+const QColor colorMagenta(255, 0, 65);
+const QColor colorDarkWhite(240, 240, 240);
 const QColor colorDarkYellow(180, 180, 0);
 const QColor colorBackground("#050508");
 const QColor colorBlack(0, 0, 0);

src/uas/QGCUASParamManager.cc

@@ -9,7 +9,7 @@ QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
     transmissionTimeout(0),
     retransmissionTimeout(350),
     rewriteTimeout(500),
-    retransmissionBurstRequestSize(2)
+    retransmissionBurstRequestSize(5)
 {
     uas->setParamManager(this);
 }

src/uas/UAS.cc

@@ -203,8 +203,6 @@ void UAS::updateState()
     quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat;
     if (!connectionLost && (heartbeatInterval > timeoutIntervalHeartbeat))
     {
-        emit heartbeatTimeout(heartbeatInterval);
-        emit heartbeatTimeout();
         connectionLost = true;
         QString audiostring = QString("Link lost to system %1").arg(this->getUASID());
         GAudioOutput::instance()->say(audiostring.toLower());
@@ -214,6 +212,7 @@ void UAS::updateState()
     if (connectionLost && (heartbeatInterval > timeoutIntervalHeartbeat))
     {
         connectionLossTime = heartbeatInterval;
+        emit heartbeatTimeout(true, heartbeatInterval/1000);
     }
 
     // Connection gained
@@ -223,6 +222,7 @@ void UAS::updateState()
         GAudioOutput::instance()->say(audiostring.toLower());
         connectionLost = false;
         connectionLossTime = 0;
+        emit heartbeatTimeout(false, 0);
     }
 
     // Position lock is set by the MAVLink message handler
@@ -855,7 +855,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // Emit change
                 emit parameterChanged(uasId, message.compid, parameterName, param);
                 emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
-                qDebug() << "RECEIVED PARAM:" << param;
+//                qDebug() << "RECEIVED PARAM:" << param;
             }
                 break;
             case MAV_PARAM_TYPE_UINT32:
@@ -866,7 +866,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // Emit change
                 emit parameterChanged(uasId, message.compid, parameterName, param);
                 emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
-                qDebug() << "RECEIVED PARAM:" << param;
+//                qDebug() << "RECEIVED PARAM:" << param;
             }
                 break;
             case MAV_PARAM_TYPE_INT32:
@@ -877,7 +877,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // Emit change
                 emit parameterChanged(uasId, message.compid, parameterName, param);
                 emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
-                qDebug() << "RECEIVED PARAM:" << param;
+//                qDebug() << "RECEIVED PARAM:" << param;
             }
                 break;
             default:
@@ -1629,11 +1629,11 @@ void UAS::sendMessage(mavlink_message_t message)
     // Emit message on all links that are currently connected
     foreach (LinkInterface* link, *links)
     {
-        qDebug() << "ITERATING THROUGH LINKS";
+        //qDebug() << "ITERATING THROUGH LINKS";
         if (link)
         {
             sendMessage(link, message);
-            qDebug() << "SENT MESSAGE";
+            //qDebug() << "SENT MESSAGE";
         }
         else
         {
@@ -2192,7 +2192,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
         p.target_system = (uint8_t)uasId;
         p.target_component = (uint8_t)component;
 
-        qDebug() << "SENT PARAM:" << value;
+        //qDebug() << "SENT PARAM:" << value;
 
         // Copy string into buffer, ensuring not to exceed the buffer size
         for (unsigned int i = 0; i < sizeof(p.param_id); i++)
@@ -2232,7 +2232,7 @@ void UAS::requestParameter(int component, int id)
     read.target_component = component;
     mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
     sendMessage(msg);
-    qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << id;
+    //qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << id;
 }
 
 /**

src/uas/UASInterface.h

@@ -527,10 +527,8 @@ signals:
     void irUltraSoundLocalizationChanged(UASInterface* uas, int fix);
 
     // ERROR AND STATUS SIGNALS
-    /** @brief Heartbeat timed out */
-    void heartbeatTimeout();
-    /** @brief Heartbeat timed out */
-    void heartbeatTimeout(unsigned int ms);
+    /** @brief Heartbeat timed out or was regained */
+    void heartbeatTimeout(bool timeout, unsigned int ms);
     /** @brief Name of system changed */
     void nameChanged(QString newName);
     /** @brief System has been selected as focused system */

src/ui/QGCParamWidget.cc

@@ -170,7 +170,7 @@ void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QStrin
     // Load CSV data
     if (!paramMetaFile.open(QIODevice::ReadOnly | QIODevice::Text))
     {
-        qDebug() << "COULD NOT OPEN PARAM META INFO FILE:" << fileName;
+        //qDebug() << "COULD NOT OPEN PARAM META INFO FILE:" << fileName;
         return;
     }
 
@@ -235,7 +235,7 @@ void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QStrin
 
     QString out = separator;
     out.replace("\t", "<tab>");
-    qDebug() << " Separator: \"" << out << "\"";
+    //qDebug() << " Separator: \"" << out << "\"";
     //qDebug() << "READING CSV:" << header;
 
 
@@ -470,7 +470,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
  */
 void QGCParamWidget::addParameter(int uas, int component, QString parameterName, QVariant value)
 {
-    qDebug() << "PARAM WIDGET GOT PARAM:" << value;
+    //qDebug() << "PARAM WIDGET GOT PARAM:" << value;
     Q_UNUSED(uas);
     // Reference to item in tree
     QTreeWidgetItem* parameterItem = NULL;
@@ -800,7 +800,7 @@ void QGCParamWidget::loadParameters()
                             break;
                         }
 
-                        qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED";
+                        //qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED";
 
                         // Mark in UI
 
@@ -833,7 +833,7 @@ void QGCParamWidget::setRetransmissionGuardEnabled(bool enabled)
 void QGCParamWidget::retransmissionGuardTick()
 {
     if (transmissionActive) {
-        qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD ACTIVE, CHECKING FOR DROPS..";
+        //qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD ACTIVE, CHECKING FOR DROPS..";
 
         // Check for timeout
         // stop retransmission attempts on timeout
@@ -872,7 +872,7 @@ void QGCParamWidget::retransmissionGuardTick()
                 int count = 0;
                 foreach (int id, *paramList) {
                     if (count < retransmissionBurstRequestSize) {
-                        qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD REQUESTS RETRANSMISSION OF PARAM #" << id << "FROM COMPONENT #" << component;
+                        //qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD REQUESTS RETRANSMISSION OF PARAM #" << id << "FROM COMPONENT #" << component;
                         emit requestParameter(component, id);
                         statusLabel->setText(tr("Requested retransmission of #%1").arg(id+1));
                         count++;
@@ -915,7 +915,7 @@ void QGCParamWidget::retransmissionGuardTick()
                         }
                         break;
                     default:
-                        qCritical() << "ABORTED PARAM RETRANSMISSION, NO VALID QVARIANT TYPE";
+                        //qCritical() << "ABORTED PARAM RETRANSMISSION, NO VALID QVARIANT TYPE";
                         return;
                     }
                     statusLabel->setText(tr("Requested rewrite of: %1: %2").arg(key).arg(missingParams->value(key).toDouble()));
@@ -926,7 +926,7 @@ void QGCParamWidget::retransmissionGuardTick()
             }
         }
     } else {
-        qDebug() << __FILE__ << __LINE__ << "STOPPING RETRANSMISSION GUARD GRACEFULLY";
+        //qDebug() << __FILE__ << __LINE__ << "STOPPING RETRANSMISSION GUARD GRACEFULLY";
         setRetransmissionGuardEnabled(false);
     }
 }
@@ -965,21 +965,21 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant
         {
             QVariant fixedValue(value.toInt());
             emit parameterChanged(component, parameterName, fixedValue);
-            qDebug() << "PARAM WIDGET SENT:" << fixedValue;
+            //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
         }
         break;
     case QVariant::UInt:
         {
             QVariant fixedValue(value.toUInt());
             emit parameterChanged(component, parameterName, fixedValue);
-            qDebug() << "PARAM WIDGET SENT:" << fixedValue;
+            //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
         }
         break;
     case QMetaType::Float:
         {
             QVariant fixedValue(value.toFloat());
             emit parameterChanged(component, parameterName, fixedValue);
-            qDebug() << "PARAM WIDGET SENT:" << fixedValue;
+            //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
         }
         break;
     default:

src/ui/QGCToolBar.cc

@@ -61,6 +61,11 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
 	toolBarNameLabel->setToolTip(tr("Currently controlled vehicle"));
     addWidget(toolBarNameLabel);
 
+    toolBarTimeoutLabel = new QLabel("UNCONNECTED", this);
+    toolBarTimeoutLabel->setToolTip(tr("System timed out, interval since last message"));
+    toolBarTimeoutLabel->setStyleSheet(QString("QLabel { margin: 0px 2px; font: 14px; color: %1; background-color: %2; }").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.name()));
+    addWidget(toolBarTimeoutLabel);
+
     toolBarSafetyLabel = new QLabel("SAFE", this);
     toolBarSafetyLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #14C814; }");
 	toolBarSafetyLabel->setToolTip(tr("Vehicle safety state"));
@@ -110,11 +115,38 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
     setActiveUAS(UASManager::instance()->getActiveUAS());
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
 
-	// Set the toolbar to be updated every 2s
+    // Set the toolbar to be updated every 2s
     connect(&updateViewTimer, SIGNAL(timeout()), this, SLOT(updateView()));
     updateViewTimer.start(2000);
 }
 
+void QGCToolBar::heartbeatTimeout(bool timeout, unsigned int ms)
+{
+    // set timeout label visible
+    if (timeout)
+    {
+        // Alternate colors to increase visibility
+        if ((ms / 1000) % 2 == 0)
+        {
+            toolBarTimeoutLabel->setStyleSheet(QString("QLabel { margin: 0px 2px; font: 14px; color: %1; background-color: %2; }").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.name()));
+        }
+        else
+        {
+            toolBarTimeoutLabel->setStyleSheet(QString("QLabel { margin: 0px 2px; font: 14px; color: %1; background-color: %2; }").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.dark(250).name()));
+        }
+        toolBarTimeoutLabel->setText(tr("CONNECTION LOST: %1 s").arg((ms / 1000.0f), 2, 'f', 1));
+    }
+    else
+    {
+        // Check if loss text is present, reset once
+        if (toolBarTimeoutLabel->text() != "")
+        {
+            toolBarTimeoutLabel->setText("");
+            toolBarTimeoutLabel->setStyleSheet(QString(""));
+        }
+    }
+}
+
 void QGCToolBar::setLogPlayer(QGCMAVLinkLogPlayer* player)
 {
     this->player = player;
@@ -244,6 +276,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
         disconnect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
         disconnect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
         disconnect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
+        disconnect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
         if (mav->getWaypointManager())
         {
             disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
@@ -260,6 +293,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
     connect(active, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
     connect(active, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
     connect(active, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
+    connect(active, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
     if (active->getWaypointManager())
     {
         connect(active->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
@@ -274,6 +308,8 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
     symbolButton->setStyleSheet(QString("QWidget { background-color: %1; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 4px 0px 20px; background-color: none; }").arg(mav->getColor().name()));
     toolBarModeLabel->setText(mav->getShortMode());
     toolBarStateLabel->setText(mav->getShortState());
+    toolBarTimeoutLabel->setStyleSheet(QString(""));
+    toolBarTimeoutLabel->setText("");
     setSystemType(mav, mav->getSystemType());
 }
 

src/ui/QGCToolBar.h

@@ -70,6 +70,8 @@ public slots:
     void updateArmingState(bool armed);
     /** @brief Repaint widgets */
     void updateView();
+    /** @brief Update connection timeout time */
+    void heartbeatTimeout(bool timeout, unsigned int ms);
 
 protected:
     void createCustomWidgets();
@@ -79,6 +81,7 @@ protected:
     UASInterface* mav;
     QToolButton* symbolButton;
     QLabel* toolBarNameLabel;
+    QLabel* toolBarTimeoutLabel;
     QLabel* toolBarSafetyLabel;
     QLabel* toolBarModeLabel;
     QLabel* toolBarStateLabel;

src/ui/uas/UASView.cc

@@ -98,7 +98,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
     connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
     connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
-    connect(uas, SIGNAL(heartbeatTimeout()), this, SLOT(heartbeatTimeout()));
+    connect(uas, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool, unsigned int)));
     connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int)));
     connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
     connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
@@ -175,9 +175,10 @@ UASView::~UASView()
     delete selectAction;
 }
 
-void UASView::heartbeatTimeout()
+void UASView::heartbeatTimeout(bool timeout, unsigned int ms)
 {
-    timeout = true;
+    Q_UNUSED(ms);
+    this->timeout = timeout;
 }
 
 void UASView::updateNavMode(int uasid, int mode, const QString& text)

src/ui/uas/UASView.h

@@ -78,7 +78,7 @@ public slots:
     /** @brief Update the view if an UAS has been set to active */
     void updateActiveUAS(UASInterface* uas, bool active);
     /** @brief Set the widget into critical mode */
-    void heartbeatTimeout();
+    void heartbeatTimeout(bool timeout, unsigned int ms);
     /** @brief Set the background color for the widget */
     void setBackgroundColor();
     /** @brief Bring up the dialog to rename the system */