From 0a0e9cf318eb6463d07bcecc3ed5949b6bcc6b55 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Thu, 20 Mar 2025 18:28:46 +0100
Subject: [PATCH] Updated MotorValve and Label to configurable subscriptions
---
justfile | 2 +-
src/mavlink/reflection.rs | 15 +++
src/ui/cache.rs | 4 +-
src/ui/panes/pid_drawing_tool.rs | 82 +++++++++++++---
src/ui/panes/pid_drawing_tool/elements.rs | 33 +++----
src/ui/panes/pid_drawing_tool/symbols.rs | 15 ++-
.../panes/pid_drawing_tool/symbols/icons.rs | 36 ++++---
.../symbols/icons/motor_valve.rs | 82 ++++++++++++----
.../panes/pid_drawing_tool/symbols/labels.rs | 95 ++++++++++++++++---
9 files changed, 285 insertions(+), 79 deletions(-)
diff --git a/justfile b/justfile
index ea6682b..f537b2e 100644
--- a/justfile
+++ b/justfile
@@ -9,7 +9,7 @@ test *ARGS:
cargo nextest run {{ARGS}}
run LEVEL="debug":
- RUST_LOG=segs={{LEVEL}} cargo r
+ RUST_BACKTRACE=full RUST_LOG=segs={{LEVEL}} cargo r
doc:
cargo doc --no-deps --open
diff --git a/src/mavlink/reflection.rs b/src/mavlink/reflection.rs
index e3ed70e..4162f24 100644
--- a/src/mavlink/reflection.rs
+++ b/src/mavlink/reflection.rs
@@ -98,6 +98,21 @@ impl ReflectionContext {
.map(|f| f.to_mav_field(msg.id, self).ok())
.collect()
}
+
+ pub fn get_all_state_fields(
+ &'static self,
+ message_id: impl MessageLike,
+ ) -> Option<Vec<IndexedField>> {
+ let msg = message_id.to_mav_message(self).ok()?;
+ msg.fields
+ .iter()
+ .filter(|f| {
+ f.name.to_lowercase().ends_with("state")
+ || f.name.to_lowercase().ends_with("status")
+ })
+ .map(|f| f.to_mav_field(msg.id, self).ok())
+ .collect()
+ }
}
#[derive(Debug, Clone)]
diff --git a/src/ui/cache.rs b/src/ui/cache.rs
index 031a361..db6e95f 100644
--- a/src/ui/cache.rs
+++ b/src/ui/cache.rs
@@ -158,7 +158,7 @@ impl ChangeTracker {
/// ```
/// let initial_tracker = ChangeTracker::record_initial_state(&state);
/// ```
- pub fn record_initial_state<T: Hash>(state: &T) -> Self {
+ pub fn record_initial_state<T: Hash>(state: T) -> Self {
let mut hasher = DefaultHasher::new();
state.hash(&mut hasher);
let integrity_digest = hasher.finish();
@@ -187,7 +187,7 @@ impl ChangeTracker {
/// println!("The state has changed.");
/// }
/// ```
- pub fn has_changed<T: Hash>(&self, state: &T) -> bool {
+ pub fn has_changed<T: Hash>(&self, state: T) -> bool {
let mut hasher = DefaultHasher::new();
state.hash(&mut hasher);
self.integrity_digest != hasher.finish()
diff --git a/src/ui/panes/pid_drawing_tool.rs b/src/ui/panes/pid_drawing_tool.rs
index e8fcfa8..7ee9531 100644
--- a/src/ui/panes/pid_drawing_tool.rs
+++ b/src/ui/panes/pid_drawing_tool.rs
@@ -15,9 +15,10 @@ use strum::IntoEnumIterator;
use symbols::{Symbol, icons::Icon};
use crate::{
+ MAVLINK_PROFILE,
error::ErrInstrument,
- mavlink::{GSE_TM_DATA, MessageData, TimedMessage},
- ui::{app::PaneResponse, utils::egui_to_glam},
+ mavlink::{GSE_TM_DATA, MessageData, TimedMessage, reflection::MessageLike},
+ ui::{app::PaneResponse, cache::ChangeTracker, utils::egui_to_glam},
};
use super::PaneBehavior;
@@ -32,20 +33,39 @@ enum Action {
}
/// Piping and instrumentation diagram
-#[derive(Clone, Serialize, Deserialize, Default, Debug)]
+#[derive(Clone, Serialize, Deserialize, Debug)]
pub struct PidPane {
+ // Persistent internal state
elements: Vec<Element>,
connections: Vec<Connection>,
-
grid: GridInfo,
+ message_subscription_id: u32,
+
+ // UI settings
+ center_content: bool,
+ // Temporary internal state
#[serde(skip)]
action: Option<Action>,
-
#[serde(skip)]
editable: bool,
+ #[serde(skip)]
+ is_subs_window_visible: bool,
+}
- center_content: bool,
+impl Default for PidPane {
+ fn default() -> Self {
+ Self {
+ elements: Vec::new(),
+ connections: Vec::new(),
+ grid: GridInfo::default(),
+ message_subscription_id: GSE_TM_DATA::ID,
+ center_content: false,
+ action: None,
+ editable: false,
+ is_subs_window_visible: false,
+ }
+ }
}
impl PartialEq for PidPane {
@@ -69,7 +89,7 @@ impl PaneBehavior for PidPane {
self.draw_grid(ui, theme);
}
self.draw_connections(ui, theme);
- self.draw_elements(ui, theme);
+ self.elements_ui(ui, theme);
// Handle things that require knowing the position of the pointer
let (_, response) = ui.allocate_at_least(ui.max_rect().size(), Sense::click_and_drag());
@@ -96,6 +116,20 @@ impl PaneBehavior for PidPane {
response.context_menu(|ui| self.draw_context_menu(ui, pointer_pos));
}
+ let change_tracker = ChangeTracker::record_initial_state(self.message_subscription_id);
+ egui::Window::new("Subscription")
+ .id(ui.auto_id_with("sub_settings"))
+ .auto_sized()
+ .collapsible(true)
+ .movable(true)
+ .open(&mut self.is_subs_window_visible)
+ .show(ui.ctx(), |ui| {
+ subscription_window(ui, &mut self.message_subscription_id)
+ });
+ if change_tracker.has_changed(self.message_subscription_id) {
+ self.reset_subscriptions();
+ }
+
PaneResponse::default()
}
@@ -106,13 +140,13 @@ impl PaneBehavior for PidPane {
fn update(&mut self, messages: &[TimedMessage]) {
if let Some(msg) = messages.last() {
for element in &mut self.elements {
- element.update(&msg.message);
+ element.update(&msg.message, self.message_subscription_id);
}
}
}
fn get_message_subscription(&self) -> Option<u32> {
- Some(GSE_TM_DATA::ID)
+ Some(self.message_subscription_id)
}
}
@@ -203,16 +237,16 @@ impl PidPane {
}
}
- fn draw_elements(&mut self, ui: &mut Ui, theme: Theme) {
+ fn elements_ui(&mut self, ui: &mut Ui, theme: Theme) {
for element in &mut self.elements {
ui.scope(|ui| {
- element.draw(&self.grid, ui, theme);
+ element.ui(ui, &self.grid, theme, self.message_subscription_id);
});
}
}
fn draw_context_menu(&mut self, ui: &mut Ui, pointer_pos: Vec2) {
- ui.set_max_width(120.0); // To make sure we wrap long text
+ ui.set_max_width(170.0); // To make sure we wrap long text
if !self.editable {
if ui.button("Enable editing").clicked() {
@@ -229,12 +263,12 @@ impl PidPane {
self.action = Some(Action::Connect(elem_idx));
ui.close_menu();
}
- self.elements[elem_idx].context_menu(ui);
if ui.button("Delete").clicked() {
self.delete_element(elem_idx);
self.action.take();
ui.close_menu();
}
+ self.elements[elem_idx].context_menu(ui);
} else if let Some((conn_idx, segm_idx)) = self.hovers_connection(pointer_pos) {
if ui.button("Split").clicked() {
self.connections[conn_idx].split(segm_idx, self.grid.screen_to_grid(pointer_pos));
@@ -283,6 +317,11 @@ impl PidPane {
});
}
+ if ui.button("Pane subscription settings…").clicked() {
+ self.is_subs_window_visible = true;
+ ui.close_menu();
+ }
+
if ui.button("Disable editing").clicked() {
self.editable = false;
ui.close_menu();
@@ -400,4 +439,21 @@ impl PidPane {
None => {}
}
}
+
+ fn reset_subscriptions(&mut self) {
+ for element in &mut self.elements {
+ element.reset_subscriptions();
+ }
+ }
+}
+
+fn subscription_window(ui: &mut Ui, msg_id: &mut u32) {
+ let current_msg = msg_id.to_mav_message(&MAVLINK_PROFILE).log_unwrap();
+ egui::ComboBox::from_label("Message subscription")
+ .selected_text(current_msg.name.as_str())
+ .show_ui(ui, |ui| {
+ for msg in MAVLINK_PROFILE.get_sorted_msgs() {
+ ui.selectable_value(msg_id, msg.id, &msg.name);
+ }
+ });
}
diff --git a/src/ui/panes/pid_drawing_tool/elements.rs b/src/ui/panes/pid_drawing_tool/elements.rs
index 5cc6c6a..ddcf65e 100644
--- a/src/ui/panes/pid_drawing_tool/elements.rs
+++ b/src/ui/panes/pid_drawing_tool/elements.rs
@@ -35,8 +35,8 @@ impl Element {
pub fn new(center: Vec2, symbol: Symbol) -> Self {
Self {
position: center - symbol.size() / 2.0,
- rotation: 0.0,
symbol,
+ rotation: 0.0,
}
}
@@ -66,21 +66,17 @@ impl Element {
}
pub fn context_menu(&mut self, ui: &mut Ui) {
- match &mut self.symbol {
- Symbol::Icon(_) => {
- if ui.button("Rotate 90° ⟲").clicked() {
- self.rotate(-FRAC_PI_2);
- ui.close_menu();
- }
- if ui.button("Rotate 90° ⟳").clicked() {
- self.rotate(FRAC_PI_2);
- ui.close_menu();
- }
+ if let Symbol::Icon(_) = &mut self.symbol {
+ if ui.button("Rotate 90° ⟲").clicked() {
+ self.rotate(-FRAC_PI_2);
+ ui.close_menu();
}
- Symbol::Label(label) => {
- label.context_menu(ui);
+ if ui.button("Rotate 90° ⟳").clicked() {
+ self.rotate(FRAC_PI_2);
+ ui.close_menu();
}
}
+ self.symbol.context_menu(ui);
}
/// Rotate the element by its center
@@ -122,13 +118,18 @@ impl Element {
self.position + Mat2::from_angle(self.rotation) * self.size() * 0.5
}
- pub fn draw(&mut self, grid: &GridInfo, ui: &Ui, theme: Theme) {
+ pub fn ui(&mut self, ui: &mut Ui, grid: &GridInfo, theme: Theme, msg: u32) {
let pos = grid.grid_to_screen(self.position);
let size = grid.size();
self.symbol.paint(ui, theme, pos, size, self.rotation);
+ self.symbol.subscriptions_ui(ui, msg);
+ }
+
+ pub fn update(&mut self, message: &MavMessage, subscribed_msg_id: u32) {
+ self.symbol.update(message, subscribed_msg_id);
}
- pub fn update(&mut self, message: &MavMessage) {
- self.symbol.update(message);
+ pub fn reset_subscriptions(&mut self) {
+ self.symbol.reset_subscriptions();
}
}
diff --git a/src/ui/panes/pid_drawing_tool/symbols.rs b/src/ui/panes/pid_drawing_tool/symbols.rs
index 00d8883..6bbbe4c 100644
--- a/src/ui/panes/pid_drawing_tool/symbols.rs
+++ b/src/ui/panes/pid_drawing_tool/symbols.rs
@@ -26,7 +26,18 @@ impl Default for Symbol {
#[enum_dispatch(Symbol)]
pub trait SymbolBehavior {
- fn paint(&mut self, ui: &Ui, theme: Theme, pos: Vec2, size: f32, rotation: f32);
+ /// Resets the subscriptions settings.
+ /// IMPORTANT: This method should be called every time the msg_id changes.
+ fn reset_subscriptions(&mut self);
+
+ /// Updates the symbol based on the received message.
+ fn update(&mut self, message: &MavMessage, subscribed_msg_id: u32);
+
+ /// Renders the symbol on the UI.
+ fn paint(&mut self, ui: &mut Ui, theme: Theme, pos: Vec2, size: f32, rotation: f32);
+
+ /// Renders further elements related to the subscriptions settings
+ fn subscriptions_ui(&mut self, ui: &mut Ui, mavlink_id: u32);
/// Anchor point in grid coordinates relative to the element's center
///
@@ -37,8 +48,6 @@ pub trait SymbolBehavior {
/// Symbol size in grid coordinates
fn size(&self) -> Vec2;
- fn update(&mut self, message: &MavMessage);
-
#[allow(unused_variables)]
fn context_menu(&mut self, ui: &mut Ui) {}
}
diff --git a/src/ui/panes/pid_drawing_tool/symbols/icons.rs b/src/ui/panes/pid_drawing_tool/symbols/icons.rs
index fcadab8..fd3378b 100644
--- a/src/ui/panes/pid_drawing_tool/symbols/icons.rs
+++ b/src/ui/panes/pid_drawing_tool/symbols/icons.rs
@@ -1,6 +1,6 @@
mod motor_valve;
-use egui::{ImageSource, Theme};
+use egui::{ImageSource, Theme, Ui};
use glam::Vec2;
use motor_valve::MotorValve;
use serde::{Deserialize, Serialize};
@@ -148,14 +148,19 @@ impl Icon {
}
impl SymbolBehavior for Icon {
- fn paint(
- &mut self,
- ui: &egui::Ui,
- theme: egui::Theme,
- pos: glam::Vec2,
- size: f32,
- rotation: f32,
- ) {
+ fn update(&mut self, message: &MavMessage, subscribed_msg_id: u32) {
+ if let Icon::MotorValve(state) = self {
+ state.update(message, subscribed_msg_id)
+ }
+ }
+
+ fn reset_subscriptions(&mut self) {
+ if let Icon::MotorValve(state) = self {
+ state.reset_subscriptions()
+ }
+ }
+
+ fn paint(&mut self, ui: &mut Ui, theme: Theme, pos: glam::Vec2, size: f32, rotation: f32) {
let center = glam_to_egui(pos).to_pos2();
let image_rect = egui::Rect::from_min_size(center, glam_to_egui(self.size() * size));
egui::Image::new(self.get_image(theme))
@@ -163,9 +168,18 @@ impl SymbolBehavior for Icon {
.paint_at(ui, image_rect);
}
- fn update(&mut self, message: &MavMessage) {
+ fn subscriptions_ui(&mut self, ui: &mut Ui, mavlink_id: u32) {
+ if let Icon::MotorValve(state) = self {
+ state.subscriptions_ui(ui, mavlink_id)
+ }
+ }
+
+ fn context_menu(&mut self, ui: &mut Ui) {
if let Icon::MotorValve(state) = self {
- state.update(message)
+ if ui.button("Icon subscription settings…").clicked() {
+ state.is_subs_window_visible = true;
+ ui.close_menu();
+ }
}
}
diff --git a/src/ui/panes/pid_drawing_tool/symbols/icons/motor_valve.rs b/src/ui/panes/pid_drawing_tool/symbols/icons/motor_valve.rs
index b16d910..1dd9478 100644
--- a/src/ui/panes/pid_drawing_tool/symbols/icons/motor_valve.rs
+++ b/src/ui/panes/pid_drawing_tool/symbols/icons/motor_valve.rs
@@ -1,39 +1,85 @@
+use egui::{RichText, Ui, Window};
use serde::{Deserialize, Serialize};
use crate::{
MAVLINK_PROFILE,
error::ErrInstrument,
- mavlink::{
- GSE_TM_DATA, MavMessage, Message, MessageData,
- reflection::{FieldLike, IndexedField},
- },
+ mavlink::{MavMessage, Message, reflection::IndexedField},
+ ui::cache::ChangeTracker,
};
-#[derive(Clone, Serialize, Deserialize, PartialEq, Debug)]
+#[derive(Clone, Serialize, Deserialize, PartialEq, Default, Debug)]
pub struct MotorValve {
- mavlink_field: IndexedField,
+ subscribed_field: Option<IndexedField>,
/// false = closed, true = open
#[serde(skip)]
pub last_value: Option<bool>,
+ #[serde(skip)]
+ pub is_subs_window_visible: bool,
}
impl MotorValve {
- pub(super) fn update(&mut self, msg: &MavMessage) {
- if msg.message_id() == GSE_TM_DATA::ID {
- let value = self.mavlink_field.extract_as_f64(msg).log_unwrap();
- self.last_value = Some(value != 0.0);
+ pub fn update(&mut self, msg: &MavMessage, subscribed_msg_id: u32) {
+ // Reset field if msg_id has changed
+ if let Some(inner_field) = &self.subscribed_field {
+ if inner_field.msg_id() != subscribed_msg_id {
+ self.subscribed_field = None;
+ }
+ }
+
+ if let Some(field) = &self.subscribed_field {
+ if msg.message_id() == subscribed_msg_id {
+ let value = field.extract_as_f64(msg).log_unwrap();
+ self.last_value = Some(value != 0.0);
+ }
}
}
-}
-impl Default for MotorValve {
- fn default() -> Self {
- Self {
- mavlink_field: 19
- .to_mav_field(GSE_TM_DATA::ID, &MAVLINK_PROFILE)
- .log_unwrap(), // n2_filling_valve_state for GSE_TM_DATA
- last_value: None,
+ pub fn reset_subscriptions(&mut self) {
+ self.subscribed_field = None;
+ self.last_value = None;
+ }
+
+ pub fn subscriptions_ui(&mut self, ui: &mut Ui, mavlink_id: u32) {
+ let change_tracker = ChangeTracker::record_initial_state(&self.subscribed_field);
+ Window::new("Subscriptions")
+ .id(ui.auto_id_with("subs_settings"))
+ .auto_sized()
+ .collapsible(true)
+ .movable(true)
+ .open(&mut self.is_subs_window_visible)
+ .show(ui.ctx(), |ui| {
+ subscription_window(ui, mavlink_id, &mut self.subscribed_field)
+ });
+ // reset last_value if the subscribed field has changed
+ if change_tracker.has_changed(&self.subscribed_field) {
+ self.last_value = None;
}
}
}
+
+fn subscription_window(ui: &mut Ui, msg_id: u32, field: &mut Option<IndexedField>) {
+ // Get all fields available for subscription
+ let fields = MAVLINK_PROFILE.get_all_state_fields(msg_id).log_unwrap();
+
+ // If no fields available for subscription
+ if fields.is_empty() {
+ ui.label(
+ RichText::new("No fields available for subscription")
+ .underline()
+ .strong(),
+ );
+ return;
+ };
+
+ // Otherwise, select the first field available
+ let field = field.get_or_insert(fields[0].to_owned());
+ egui::ComboBox::from_label("field")
+ .selected_text(&field.field().name)
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field, msg.to_owned(), &msg.field().name);
+ }
+ });
+}
diff --git a/src/ui/panes/pid_drawing_tool/symbols/labels.rs b/src/ui/panes/pid_drawing_tool/symbols/labels.rs
index 10d2a9e..e20c551 100644
--- a/src/ui/panes/pid_drawing_tool/symbols/labels.rs
+++ b/src/ui/panes/pid_drawing_tool/symbols/labels.rs
@@ -1,16 +1,18 @@
use serde::{Deserialize, Serialize};
-use egui::{Align2, Color32, CornerRadius, FontId, Stroke, StrokeKind, Theme, Ui};
+use egui::{
+ Align2, Color32, CornerRadius, FontId, RichText, Stroke, StrokeKind, Theme, Ui, Window,
+};
use glam::Vec2;
use crate::{
MAVLINK_PROFILE,
error::ErrInstrument,
- mavlink::{
- GSE_TM_DATA, MavMessage, Message, MessageData,
- reflection::{FieldLike, IndexedField},
+ mavlink::{MavMessage, Message, reflection::IndexedField},
+ ui::{
+ cache::ChangeTracker,
+ utils::{egui_to_glam, glam_to_egui},
},
- ui::utils::{egui_to_glam, glam_to_egui},
};
use super::SymbolBehavior;
@@ -19,34 +21,53 @@ const FONT_SIZE: f32 = 2.0;
#[derive(Serialize, Deserialize, Clone, Debug, PartialEq)]
pub struct Label {
- mavlink_field: IndexedField,
+ subscribed_field: Option<IndexedField>,
size: Vec2,
#[serde(skip)]
last_value: Option<f32>,
+ #[serde(skip)]
+ is_subs_window_visible: bool,
}
impl Default for Label {
fn default() -> Self {
Self {
- mavlink_field: 6
- .to_mav_field(GSE_TM_DATA::ID, &MAVLINK_PROFILE)
- .log_unwrap(), // n2_vessel_1_pressure for GSE_TM_DATA
+ subscribed_field: None,
last_value: Some(0.0),
size: Vec2::new(FONT_SIZE * 0.6 * 4.0, FONT_SIZE),
+ is_subs_window_visible: false,
}
}
}
impl SymbolBehavior for Label {
- fn paint(&mut self, ui: &Ui, theme: Theme, pos: Vec2, size: f32, _: f32) {
+ fn update(&mut self, message: &MavMessage, subscribed_msg_id: u32) {
+ if let Some(subscribed_field) = &self.subscribed_field {
+ if message.message_id() == subscribed_msg_id {
+ let value = subscribed_field.extract_as_f64(message).log_unwrap();
+ self.last_value = Some(value as f32);
+ }
+ }
+ }
+
+ fn reset_subscriptions(&mut self) {
+ self.subscribed_field = None;
+ self.last_value = None;
+ }
+
+ fn paint(&mut self, ui: &mut Ui, theme: Theme, pos: Vec2, size: f32, _: f32) {
let painter = ui.painter();
let color = match theme {
Theme::Light => Color32::BLACK,
Theme::Dark => Color32::WHITE,
};
- let unit = self.mavlink_field.field().unit.as_deref().unwrap_or("");
+ let unit = self
+ .subscribed_field
+ .as_ref()
+ .and_then(|f| f.field().unit.as_deref())
+ .unwrap_or("");
let text = match self.last_value {
Some(value) => format!("{:.2} {}", value, unit),
None => "N/A".to_string(),
@@ -71,10 +92,27 @@ impl SymbolBehavior for Label {
);
}
- fn update(&mut self, message: &MavMessage) {
- if message.message_id() == GSE_TM_DATA::ID {
- let value = self.mavlink_field.extract_as_f64(message).log_unwrap();
- self.last_value = Some(value as f32);
+ fn subscriptions_ui(&mut self, ui: &mut Ui, mavlink_id: u32) {
+ let change_tracker = ChangeTracker::record_initial_state(&self.subscribed_field);
+ Window::new("Subscriptions")
+ .id(ui.auto_id_with("subs_settings"))
+ .auto_sized()
+ .collapsible(true)
+ .movable(true)
+ .open(&mut self.is_subs_window_visible)
+ .show(ui.ctx(), |ui| {
+ subscription_window(ui, mavlink_id, &mut self.subscribed_field)
+ });
+ // reset last_value if the subscribed field has changed
+ if change_tracker.has_changed(&self.subscribed_field) {
+ self.last_value = None;
+ }
+ }
+
+ fn context_menu(&mut self, ui: &mut Ui) {
+ if ui.button("Label subscription settings…").clicked() {
+ self.is_subs_window_visible = true;
+ ui.close_menu();
}
}
@@ -86,3 +124,30 @@ impl SymbolBehavior for Label {
self.size
}
}
+
+fn subscription_window(ui: &mut Ui, msg_id: u32, field: &mut Option<IndexedField>) {
+ // Get all fields available for subscription
+ let fields = MAVLINK_PROFILE
+ .get_plottable_fields(msg_id)
+ .log_expect("Invalid message id");
+
+ // If no fields available for subscription
+ if fields.is_empty() {
+ ui.label(
+ RichText::new("No fields available for subscription")
+ .underline()
+ .strong(),
+ );
+ return;
+ }
+
+ // Otherwise, select the first field available
+ let field = field.get_or_insert(fields[0].to_owned());
+ egui::ComboBox::from_label("field")
+ .selected_text(&field.field().name)
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field, msg.to_owned(), &msg.field().name);
+ }
+ });
+}
--
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