diff --git a/Cargo.lock b/Cargo.lock
index 704911bcb39c166185cde98f2fd3e5c30b20cbb9..23a50414ff12d791c698a56f3596a0877280f8a4 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1489,12 +1489,6 @@ dependencies = [
"winapi",
]
-[[package]]
-name = "heck"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
-
[[package]]
name = "hermit-abi"
version = "0.3.9"
@@ -1866,21 +1860,24 @@ dependencies = [
[[package]]
name = "mavlink-bindgen"
-version = "0.13.2"
-source = "git+https://github.com/federico123579/rust-mavlink.git?branch=strum-integration#02a3eebe16ac1aacb93c2c61696dcd731f6f2ef4"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83b15a4ad504e29cabfb03fdc97250a22d2354a5404d80fc48dbf02e06acf5f"
dependencies = [
"crc-any",
"lazy_static",
"proc-macro2",
- "quick-xml 0.36.2",
+ "quick-xml 0.26.0",
"quote",
+ "serde",
"thiserror",
]
[[package]]
name = "mavlink-core"
-version = "0.13.2"
-source = "git+https://github.com/federico123579/rust-mavlink.git?branch=strum-integration#02a3eebe16ac1aacb93c2c61696dcd731f6f2ef4"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0e64d975ca3cf0ad8a7c278553f91d77de15fcde9b79bf6bc542e209dd0c7dee"
dependencies = [
"byteorder",
"crc-any",
@@ -2498,6 +2495,15 @@ version = "1.0.16"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "afbdc74edc00b6f6a218ca6a5364d6226a259d4b8ea1af4a0ea063f27e179f4d"
+[[package]]
+name = "quick-xml"
+version = "0.26.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f50b1c63b38611e7d4d7f68b82d3ad0cc71a2ad2e7f61fc10f1328d917c93cd"
+dependencies = [
+ "memchr",
+]
+
[[package]]
name = "quick-xml"
version = "0.30.0"
@@ -2655,12 +2661,6 @@ dependencies = [
"windows-sys 0.52.0",
]
-[[package]]
-name = "rustversion"
-version = "1.0.18"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e819f2bc632f285be6d7cd36e25940d45b2391dd6d9b939e79de557f7014248"
-
[[package]]
name = "ryu"
version = "1.0.18"
@@ -2712,11 +2712,11 @@ dependencies = [
"egui_plot",
"egui_tiles",
"enum_dispatch",
+ "mavlink-bindgen",
"parking_lot",
"serde",
"serde_json",
"skyward_mavlink",
- "strum",
"tokio",
"tracing",
"tracing-subscriber",
@@ -2753,9 +2753,9 @@ dependencies = [
[[package]]
name = "serde_json"
-version = "1.0.132"
+version = "1.0.133"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d726bfaff4b320266d395898905d0eba0345aae23b54aee3a737e260fd46db03"
+checksum = "c7fceb2473b9166b2294ef05efcb65a3db80803f0b03ef86a5fc88a2b85ee377"
dependencies = [
"itoa",
"memchr",
@@ -2860,17 +2860,17 @@ checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
[[package]]
name = "skyward_mavlink"
version = "0.1.0"
-source = "git+https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git?branch=rust-strum#5b515ef056e5f783dc1cbc1c73eadd2f08a5652d"
+source = "git+https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git?branch=rust-strum#a766c38ea2dada7450cd2531b8610cbabcb6a449"
dependencies = [
"bitflags 2.6.0",
"mavlink-bindgen",
"mavlink-core",
"num-derive",
"num-traits",
+ "paste",
"serde",
"serde_arrays",
- "strum",
- "strum_macros",
+ "serde_json",
]
[[package]]
@@ -2979,25 +2979,6 @@ version = "0.1.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6637bab7722d379c8b41ba849228d680cc12d0a45ba1fa2b48f2a30577a06731"
-[[package]]
-name = "strum"
-version = "0.26.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8fec0f0aef304996cf250b31b5a10dee7980c85da9d759361292b8bca5a18f06"
-
-[[package]]
-name = "strum_macros"
-version = "0.26.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c6bee85a5a24955dc440386795aa378cd9cf82acd5f764469152d2270e581be"
-dependencies = [
- "heck",
- "proc-macro2",
- "quote",
- "rustversion",
- "syn 2.0.87",
-]
-
[[package]]
name = "syn"
version = "1.0.109"
diff --git a/Cargo.toml b/Cargo.toml
index 116dfdfbe150e9d1ae4507ea64daa435b3ba59f1..86847c816c571072d4445219f8deb2d9ab1d6318 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -13,6 +13,20 @@ egui_tiles = "0.10"
eframe = "0.29"
egui = { version = "0.29" }
egui_plot = "0.29"
+# =========== Asynchronous ===========
+tokio = { version = "1.41", features = [
+ "rt-multi-thread",
+ "net",
+ "parking_lot",
+ "sync",
+] }
+# =========== Mavlink ===========
+skyward_mavlink = { git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git", branch = "rust-strum", features = [
+ "reflection",
+ "lyra",
+ "serde",
+] }
+mavlink-bindgen = { version = "0.13.1", features = ["serde"] }
# ========= Persistency =========
serde = { version = "1.0", features = ["derive"] }
serde_json = "1.0"
@@ -27,16 +41,4 @@ crossbeam-channel = "0.5"
# =========== Utility ===========
# for dynamic dispatch
enum_dispatch = "0.3"
-strum = "0.26"
anyhow = "1.0"
-
-# =========== Asynchronous ===========
-[dependencies.tokio]
-version = "1.41"
-features = ["rt-multi-thread", "net", "parking_lot", "sync"]
-
-# =========== Mavlink ===========
-[dependencies.skyward_mavlink]
-git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git"
-branch = "rust-strum"
-features = ["lyra", "serde", "strum"]
diff --git a/src/main.rs b/src/main.rs
index 495e4e984723d1c4dc83e600f793baf195a5705c..fa14876c6ea98322c8b35b9f049ecf2db9768e50 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,15 +1,16 @@
mod mavlink;
mod ui;
-use std::sync::OnceLock;
+use std::sync::{LazyLock, OnceLock};
-use mavlink::MessageManager;
+use mavlink::{MessageManager, ReflectionContext};
use parking_lot::Mutex;
use tokio::runtime::Runtime;
use tracing_subscriber::{layer::SubscriberExt, util::SubscriberInitExt, EnvFilter, Layer};
use ui::ComposableView;
static MSG_MANAGER: OnceLock<Mutex<MessageManager>> = OnceLock::new();
+static MAVLINK_PROFILE: LazyLock<ReflectionContext> = LazyLock::new(|| ReflectionContext::new());
fn main() -> Result<(), eframe::Error> {
// set up logging (USE RUST_LOG=debug to see logs)
diff --git a/src/mavlink.rs b/src/mavlink.rs
index 6f042703f7317cc35ff5ea6910eea803ab886938..5b2214f49eab10352ebbb16bba65a0a03c1c6560 100644
--- a/src/mavlink.rs
+++ b/src/mavlink.rs
@@ -9,13 +9,13 @@ use std::{
use anyhow::{Context, Result};
use crossbeam_channel::{Receiver, Sender};
+use mavlink_bindgen::parser::{MavProfile, MavType};
use skyward_mavlink::{
lyra::MavMessage,
mavlink::{peek_reader::PeekReader, read_v1_msg, MavHeader, Message},
};
-use strum::VariantNames;
use tokio::{net::UdpSocket, task::JoinHandle};
-use tracing::{debug, info};
+use tracing::debug;
pub const DEFAULT_ETHERNET_PORT: u16 = 42069;
const UDP_BUFFER_SIZE: usize = 65527;
@@ -45,7 +45,6 @@ impl MessageManager {
pub fn get_message(&mut self, message_id: u32) -> Option<&[TimedMessage]> {
while let Ok(message) = self.rx.try_recv() {
- info!("Received message: {:?}", message);
self.add_message(message);
}
self.messages.get(&message_id).map(|v| v.as_slice())
@@ -108,8 +107,8 @@ impl MessageManager {
#[derive(Debug, Clone)]
pub struct TimedMessage {
- message: MavMessage,
- time: Instant,
+ pub message: MavMessage,
+ pub time: Instant,
}
impl TimedMessage {
@@ -126,3 +125,92 @@ fn iter_messages(buf: &[u8]) -> impl Iterator<Item = (MavHeader, MavMessage)> +
let mut reader = PeekReader::new(buf);
std::iter::from_fn(move || read_v1_msg(&mut reader).ok())
}
+
+pub struct ReflectionContext {
+ mavlink_profile: MavProfile,
+ id_name_map: HashMap<u32, String>,
+}
+
+impl ReflectionContext {
+ pub fn new() -> Self {
+ let profile: MavProfile =
+ serde_json::from_str(skyward_mavlink::reflection::LYRA_MAVLINK_PROFILE_SERIALIZED)
+ .expect("Failed to deserialize MavProfile");
+ let id_name_map = profile
+ .messages
+ .iter()
+ .map(|(name, m)| (m.id, name.clone()))
+ .collect();
+ Self {
+ mavlink_profile: profile,
+ id_name_map,
+ }
+ }
+
+ pub fn get_name_from_id(&self, message_id: u32) -> Option<&str> {
+ self.id_name_map.get(&message_id).map(|s| s.as_str())
+ }
+
+ pub fn messages(&self) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .keys()
+ .map(|s| s.as_str())
+ .collect()
+ }
+
+ pub fn get_fields_by_id(&self, message_id: u32) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .iter()
+ .find(|(_, m)| m.id == message_id)
+ .map(|(_, m)| &m.fields)
+ .unwrap_or_else(|| {
+ panic!("Message ID {} not found in profile", message_id);
+ })
+ .into_iter()
+ .map(|f| f.name.as_str())
+ .collect()
+ }
+
+ pub fn get_plottable_fields_by_id(&self, message_id: u32) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .iter()
+ .find(|(_, m)| m.id == message_id)
+ .map(|(_, m)| &m.fields)
+ .unwrap_or_else(|| {
+ panic!("Message ID {} not found in profile", message_id);
+ })
+ .into_iter()
+ .filter(|f| match f.mavtype {
+ MavType::UInt8
+ | MavType::UInt16
+ | MavType::UInt32
+ | MavType::UInt64
+ | MavType::Int8
+ | MavType::Int16
+ | MavType::Int32
+ | MavType::Int64
+ | MavType::Float
+ | MavType::Double => true,
+ _ => false,
+ })
+ .map(|f| f.name.as_str())
+ .collect()
+ }
+
+ pub fn get_fields_by_name(&self, message_name: &str) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .iter()
+ .find(|(_, m)| m.name == message_name)
+ .map(|(_, m)| &m.fields)
+ .unwrap_or_else(|| {
+ panic!("Message {} not found in profile", message_name);
+ })
+ .into_iter()
+ .map(|f| f.name.as_str())
+ .collect()
+ }
+}
diff --git a/src/ui/panes/plot_2d.rs b/src/ui/panes/plot_2d.rs
index a3ad8079da0f8a0c36444ed70ade6d5b06e4e680..ecaec8c3083a15529e1e31abdb7c9164e15cd1cd 100644
--- a/src/ui/panes/plot_2d.rs
+++ b/src/ui/panes/plot_2d.rs
@@ -1,20 +1,30 @@
-use crate::ui::composable_view::PaneResponse;
+use crate::{ui::composable_view::PaneResponse, MAVLINK_PROFILE, MSG_MANAGER};
use super::PaneBehavior;
+use egui::Color32;
use egui_plot::{Line, PlotPoints};
use serde::{Deserialize, Serialize};
+use skyward_mavlink::{
+ lyra::{MavMessage, ROCKET_FLIGHT_TM_DATA},
+ mavlink::{Message, MessageData},
+};
#[derive(Clone, Debug, Serialize, Deserialize)]
pub struct Plot2DPane {
+ // UI settings
#[serde(skip)]
pub contains_pointer: bool,
settings_visible: bool,
- n_points: u32,
- frequency: f64,
+ sources_visible: bool,
+ // Mavlink settings
+ msg_id: u32,
+ field_x: String,
+ fields_y: Vec<String>,
+ plot_active: bool,
+ // Plot specific settings
width: f32,
- color: egui::Color32,
- open: bool,
+ color: Color32,
}
impl Default for Plot2DPane {
@@ -22,11 +32,13 @@ impl Default for Plot2DPane {
Self {
contains_pointer: false,
settings_visible: false,
- n_points: 2,
- frequency: 1.0,
+ sources_visible: false,
+ msg_id: ROCKET_FLIGHT_TM_DATA::ID,
+ field_x: "timestamp".to_owned(),
+ fields_y: vec![],
+ plot_active: false,
width: 1.0,
- color: egui::Color32::from_rgb(0, 120, 240),
- open: false,
+ color: Color32::from_rgb(0, 120, 240),
}
}
}
@@ -35,34 +47,80 @@ impl PaneBehavior for Plot2DPane {
fn ui(&mut self, ui: &mut egui::Ui) -> PaneResponse {
let mut response = PaneResponse::default();
- let mut window_visible = self.settings_visible;
+ // Spawn windows
+ let mut settings_window_visible = self.settings_visible;
egui::Window::new("Plot Settings")
- .id(ui.id())
+ .id(ui.make_persistent_id("plot_settings"))
.auto_sized()
.collapsible(true)
.movable(true)
- .open(&mut window_visible)
+ .open(&mut settings_window_visible)
.show(ui.ctx(), |ui| self.settings_window(ui));
- self.settings_visible = window_visible;
+ self.settings_visible = settings_window_visible;
+
+ let mut sources_window_visible = self.sources_visible;
+ egui::Window::new("Plot Sources")
+ .id(ui.make_persistent_id("plot_sources"))
+ .auto_sized()
+ .collapsible(true)
+ .movable(true)
+ .open(&mut sources_window_visible)
+ .show(ui.ctx(), |ui| self.sources_window(ui));
+ self.sources_visible = sources_window_visible;
let ctrl_pressed = ui.input(|i| i.modifiers.ctrl);
- let plot = egui_plot::Plot::new("plot");
+ let mut plot_lines = Vec::new();
+ if self.plot_active {
+ let acc_points = MSG_MANAGER
+ .get()
+ .unwrap()
+ .lock()
+ .get_message(self.msg_id)
+ .map(|msg| {
+ msg.into_iter()
+ .map(|msg| {
+ let value: serde_json::Value =
+ serde_json::to_value(msg.message.clone()).unwrap();
+
+ let x = value.get(&self.field_x).unwrap();
+ let x = serde_json::from_value::<f64>(x.clone()).unwrap();
+ let mut ys = Vec::new();
+ for field in self.fields_y.iter() {
+ let y = value.get(field).unwrap();
+ ys.push(serde_json::from_value::<f64>(y.clone()).unwrap());
+ }
+ (x, ys)
+ })
+ .collect::<Vec<(f64, Vec<f64>)>>()
+ })
+ .unwrap_or_default();
+
+ if !acc_points.is_empty() {
+ for i in 0..self.fields_y.len() {
+ let plot_line: Vec<[f64; 2]> = acc_points
+ .iter()
+ .map(|(timestamp, acc)| [*timestamp as f64, acc[i] as f64])
+ .collect();
+ plot_lines.push(plot_line);
+ }
+ }
+ }
+
+ let plot = egui_plot::Plot::new("plot").auto_bounds([true, true].into());
plot.show(ui, |plot_ui| {
self.contains_pointer = plot_ui.response().contains_pointer();
if plot_ui.response().dragged() && ctrl_pressed {
println!("ctrl + drag");
response.set_drag_started();
}
- let points: Vec<[f64; 2]> = (0..self.n_points)
- .map(|i| i as f64 * 100.0 / (self.n_points - 1) as f64)
- .map(|i| [i, (i * std::f64::consts::PI * 2.0 * self.frequency).sin()])
- .collect();
- plot_ui.line(
- Line::new(PlotPoints::from(points))
- .color(self.color)
- .width(self.width),
- );
+ for plot_line in plot_lines {
+ plot_ui.line(
+ Line::new(PlotPoints::from(plot_line))
+ .color(self.color)
+ .width(self.width),
+ );
+ }
plot_ui.response().context_menu(|ui| self.menu(ui));
});
@@ -82,6 +140,11 @@ impl Plot2DPane {
self.settings_visible = true;
ui.close_menu();
}
+
+ if ui.button("Sources…").clicked() {
+ self.sources_visible = true;
+ ui.close_menu();
+ }
}
fn settings_window(&mut self, ui: &mut egui::Ui) {
@@ -89,14 +152,6 @@ impl Plot2DPane {
.num_columns(2)
.spacing([10.0, 5.0])
.show(ui, |ui| {
- ui.label("Size:");
- ui.add(egui::Slider::new(&mut self.n_points, 2..=1000).text("Points"));
- ui.end_row();
-
- ui.label("Frequency:");
- ui.add(egui::Slider::new(&mut self.frequency, 0.1..=10.0).text("Hz"));
- ui.end_row();
-
ui.label("Color:");
ui.color_edit_button_srgba(&mut self.color);
ui.end_row();
@@ -106,4 +161,110 @@ impl Plot2DPane {
ui.end_row();
});
}
+
+ fn sources_window(&mut self, ui: &mut egui::Ui) {
+ let old_msg_id = self.msg_id;
+ let msg_name = MAVLINK_PROFILE
+ .get_name_from_id(self.msg_id)
+ .unwrap_or_default();
+ egui::ComboBox::from_label("Message Kind")
+ .selected_text(msg_name)
+ .show_ui(ui, |ui| {
+ for msg in MAVLINK_PROFILE.messages() {
+ ui.selectable_value(
+ &mut self.msg_id,
+ MavMessage::message_id_from_name(msg).unwrap(),
+ msg,
+ );
+ }
+ });
+
+ // reset fields if the message is changed
+ if self.msg_id != old_msg_id {
+ self.fields_y.truncate(1);
+ }
+
+ // check fields and assing a default field_x and field_y once the msg is changed
+ let fields = MAVLINK_PROFILE.get_plottable_fields_by_id(self.msg_id);
+ // get the first field that is in the list of fields or the previous if valid
+ let mut field_x = fields
+ .contains(&self.field_x.as_str())
+ .then(|| self.field_x.clone())
+ .or(fields.get(0).map(|s| s.to_string()));
+ // get the second field that is in the list of fields or the previous if valid
+ let mut field_y = self
+ .fields_y
+ .get(0)
+ .map(|s| fields.contains(&s.as_str()).then_some(s.to_owned()))
+ .flatten()
+ .or(fields.get(1).map(|s| s.to_string()));
+
+ // if fields are valid, show the combo boxes for the x_axis
+ if field_x.is_some() {
+ let field_x = field_x.as_mut().unwrap();
+ egui::ComboBox::from_label("X Axis")
+ .selected_text(field_x.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field_x, (*msg).to_owned(), *msg);
+ }
+ });
+ }
+ // if fields are more than 1, show the combo boxes for the y_axis
+ if field_y.is_some() {
+ let field_y = field_y.as_mut().unwrap();
+ let widget_label = if self.fields_y.len() > 1 {
+ "Y Axis 1"
+ } else {
+ "Y Axis"
+ };
+ egui::ComboBox::from_label(widget_label)
+ .selected_text(field_y.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field_y, (*msg).to_owned(), *msg);
+ }
+ });
+ }
+ // check how many fields are left and how many are selected
+ let fields_selected = self.fields_y.len() + 1;
+ let fields_left_to_draw = fields.len().saturating_sub(2);
+ for i in 0..fields_left_to_draw.min(fields_selected.saturating_sub(2)) {
+ let field = self.fields_y.get_mut(1 + i).unwrap();
+ let widget_label = format!("Y Axis {}", i + 2);
+ egui::ComboBox::from_label(widget_label)
+ .selected_text(field.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field, (*msg).to_owned(), *msg);
+ }
+ });
+ self.fields_y[1 + i] = field.clone();
+ }
+
+ // if we have fields left, show the add button
+ let fields_left_to_draw = fields.len().saturating_sub(fields_selected);
+ if fields_left_to_draw > 0 {
+ if ui
+ .button("Add Y Axis")
+ .on_hover_text("Add another Y axis")
+ .clicked()
+ {
+ self.fields_y.push(fields[fields_selected].to_string());
+ }
+ }
+
+ // update fields and flag for active plot
+ self.field_x = field_x.unwrap_or_default();
+ if field_y.is_some() {
+ if self.fields_y.get(0).is_none() {
+ self.fields_y.push(field_y.unwrap());
+ } else {
+ self.fields_y[0] = field_y.unwrap();
+ }
+ self.plot_active = true;
+ } else {
+ self.plot_active = false;
+ }
+ }
}