diff --git a/Cargo.lock b/Cargo.lock
index a6a4c77effac769fbbc29724e165f0eca851eeb6..0ea4525d7a3f394555fca07fecf5dfef5146d156 100644
--- a/Cargo.lock
+++ b/Cargo.lock
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version = "0.8.5"
@@ -2618,6 +2766,20 @@ version = "1.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "19b30a45b0cd0bcca8037f3d0dc3421eaf95327a17cad11964fb8179b4fc4832"
+[[package]]
+name = "ring-channel"
+version = "0.12.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "10c5f5a2d656b9018cc447cae1e23c028bff5faae491fe61fd0777c57cfe0706"
+dependencies = [
+ "crossbeam-queue",
+ "crossbeam-utils",
+ "derivative",
+ "futures",
+ "slotmap",
+ "spin",
+]
+
[[package]]
name = "ron"
version = "0.8.1"
@@ -2630,6 +2792,12 @@ dependencies = [
"serde_derive",
]
+[[package]]
+name = "rustc-demangle"
+version = "0.1.24"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"
+
[[package]]
name = "rustc-hash"
version = "1.1.0"
@@ -2638,9 +2806,9 @@ checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
[[package]]
name = "rustix"
-version = "0.38.39"
+version = "0.38.40"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "375116bee2be9ed569afe2154ea6a99dfdffd257f533f187498c2a8f5feaf4ee"
+checksum = "99e4ea3e1cdc4b559b8e5650f9c8e5998e3e5c1343b4eaf034565f32318d63c0"
dependencies = [
"bitflags 2.6.0",
"errno",
@@ -2693,6 +2861,8 @@ dependencies = [
name = "segs"
version = "0.1.0"
dependencies = [
+ "anyhow",
+ "crossbeam-channel",
"eframe",
"egui",
"egui_extras",
@@ -2700,26 +2870,41 @@ dependencies = [
"egui_plot",
"egui_tiles",
"enum_dispatch",
- "env_logger",
- "log",
+ "mavlink-bindgen",
+ "parking_lot",
+ "ring-channel",
"serde",
"serde_json",
+ "skyward_mavlink",
+ "strum",
+ "tokio",
+ "tracing",
+ "tracing-subscriber",
]
[[package]]
name = "serde"
-version = "1.0.214"
+version = "1.0.215"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f55c3193aca71c12ad7890f1785d2b73e1b9f63a0bbc353c08ef26fe03fc56b5"
+checksum = "6513c1ad0b11a9376da888e3e0baa0077f1aed55c17f50e7b2397136129fb88f"
dependencies = [
"serde_derive",
]
+[[package]]
+name = "serde_arrays"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38636132857f68ec3d5f3eb121166d2af33cb55174c4d5ff645db6165cbef0fd"
+dependencies = [
+ "serde",
+]
+
[[package]]
name = "serde_derive"
-version = "1.0.214"
+version = "1.0.215"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de523f781f095e28fa605cdce0f8307e451cc0fd14e2eb4cd2e98a355b147766"
+checksum = "ad1e866f866923f252f05c889987993144fb74e722403468a4ebd70c3cd756c0"
dependencies = [
"proc-macro2",
"quote",
@@ -2728,9 +2913,9 @@ 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",
@@ -2749,6 +2934,48 @@ dependencies = [
"syn 2.0.87",
]
+[[package]]
+name = "serial"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a1237a96570fc377c13baa1b88c7589ab66edced652e43ffb17088f003db3e86"
+dependencies = [
+ "serial-core",
+ "serial-unix",
+ "serial-windows",
+]
+
+[[package]]
+name = "serial-core"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f46209b345401737ae2125fe5b19a77acce90cd53e1658cda928e4fe9a64581"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "serial-unix"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f03fbca4c9d866e24a459cbca71283f545a37f8e3e002ad8c70593871453cab7"
+dependencies = [
+ "ioctl-rs",
+ "libc",
+ "serial-core",
+ "termios",
+]
+
+[[package]]
+name = "serial-windows"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "15c6d3b776267a75d31bbdfd5d36c0ca051251caafc285827052bc53bcdc8162"
+dependencies = [
+ "libc",
+ "serial-core",
+]
+
[[package]]
name = "sha1"
version = "0.10.6"
@@ -2760,6 +2987,15 @@ dependencies = [
"digest",
]
+[[package]]
+name = "sharded-slab"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f40ca3c46823713e0d4209592e8d6e826aa57e928f09752619fc696c499637f6"
+dependencies = [
+ "lazy_static",
+]
+
[[package]]
name = "shlex"
version = "1.3.0"
@@ -2781,6 +3017,22 @@ version = "0.3.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
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#0a67d0afc508c38faecc611a58819479686bee27"
+dependencies = [
+ "bitflags 2.6.0",
+ "mavlink-bindgen",
+ "mavlink-core",
+ "num-derive",
+ "num-traits",
+ "paste",
+ "serde",
+ "serde_arrays",
+ "serde_json",
+]
+
[[package]]
name = "slab"
version = "0.4.9"
@@ -2850,6 +3102,22 @@ dependencies = [
"serde",
]
+[[package]]
+name = "socket2"
+version = "0.5.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
+dependencies = [
+ "libc",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+
[[package]]
name = "spirv"
version = "0.3.0+sdk-1.3.268.0"
@@ -2877,6 +3145,12 @@ 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 = "syn"
version = "1.0.109"
@@ -2912,9 +3186,9 @@ dependencies = [
[[package]]
name = "tempfile"
-version = "3.13.0"
+version = "3.14.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0f2c9fc62d0beef6951ccffd757e241266a2c833136efbe35af6cd2567dca5b"
+checksum = "28cce251fcbc87fac86a866eeb0d6c2d536fc16d06f184bb61aeae11aa4cee0c"
dependencies = [
"cfg-if",
"fastrand",
@@ -2932,26 +3206,45 @@ dependencies = [
"winapi-util",
]
+[[package]]
+name = "termios"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d5d9cf598a6d7ce700a4e6a9199da127e6819a61e64b68609683cc9a01b5683a"
+dependencies = [
+ "libc",
+]
+
[[package]]
name = "thiserror"
-version = "1.0.68"
+version = "1.0.69"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02dd99dc800bbb97186339685293e1cc5d9df1f8fae2d0aecd9ff1c77efea892"
+checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
dependencies = [
"thiserror-impl",
]
[[package]]
name = "thiserror-impl"
-version = "1.0.68"
+version = "1.0.69"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7c61ec9a6f64d2793d8a45faba21efbe3ced62a886d44c36a009b2b519b4c7e"
+checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.87",
]
+[[package]]
+name = "thread_local"
+version = "1.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b9ef9bad013ada3808854ceac7b46812a6465ba368859a37e2100283d2d719c"
+dependencies = [
+ "cfg-if",
+ "once_cell",
+]
+
[[package]]
name = "tiny-skia"
version = "0.11.4"
@@ -2987,6 +3280,21 @@ dependencies = [
"zerovec",
]
+[[package]]
+name = "tokio"
+version = "1.42.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5cec9b21b0450273377fc97bd4c33a8acffc8c996c987a7c5b319a0083707551"
+dependencies = [
+ "backtrace",
+ "libc",
+ "mio",
+ "parking_lot",
+ "pin-project-lite",
+ "socket2",
+ "windows-sys 0.52.0",
+]
+
[[package]]
name = "toml_datetime"
version = "0.6.8"
@@ -3033,6 +3341,36 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
dependencies = [
"once_cell",
+ "valuable",
+]
+
+[[package]]
+name = "tracing-log"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee855f1f400bd0e5c02d150ae5de3840039a3f54b025156404e34c23c03f47c3"
+dependencies = [
+ "log",
+ "once_cell",
+ "tracing-core",
+]
+
+[[package]]
+name = "tracing-subscriber"
+version = "0.3.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ad0f048c97dbd9faa9b7df56362b8ebcaa52adb06b498c050d2f4e32f90a7a8b"
+dependencies = [
+ "matchers",
+ "nu-ansi-term",
+ "once_cell",
+ "regex",
+ "sharded-slab",
+ "smallvec",
+ "thread_local",
+ "tracing",
+ "tracing-core",
+ "tracing-log",
]
[[package]]
@@ -3121,10 +3459,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b6c140620e7ffbb22c2dee59cafe6084a59b5ffc27a8859a5f0d494b5d52b6be"
[[package]]
-name = "utf8parse"
-version = "0.2.2"
+name = "valuable"
+version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
+checksum = "830b7e5d4d90034032940e4ace0d9a9a057e7a45cd94e6c007832e39edb82f6d"
[[package]]
name = "version_check"
diff --git a/Cargo.toml b/Cargo.toml
index 9a6f56ef05241e31014ffc9b165089a8561ef6a6..975dee222aa720c1a75d662474563cb73f656c5a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -14,13 +14,35 @@ eframe = { version = "0.29", features = ["persistence"] }
egui = { version = "0.29", features = ["log"] }
egui_plot = "0.29"
egui_file = "0.19"
+# =========== 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",
+ "orion",
+ "serde",
+] }
+mavlink-bindgen = { version = "0.13.1", features = ["serde"] }
# ========= Persistency =========
serde = { version = "1.0", features = ["derive"] }
serde_json = "1.0"
# =========== Logging ===========
-env_logger = "0.11"
-log = "0.4"
+tracing = "0.1"
+tracing-subscriber = { version = "0.3", features = ["env-filter"] }
+# =========== Performance ===========
+# for fast mutexes
+parking_lot = "0.12"
+# for fast channels
+crossbeam-channel = "0.5"
# =========== Utility ===========
# for dynamic dispatch
enum_dispatch = "0.3"
egui_extras = "0.29.1"
+strum = "0.26"
+anyhow = "1.0"
+ring-channel = "0.12.0"
diff --git a/justfile b/justfile
new file mode 100644
index 0000000000000000000000000000000000000000..613e908a144ea7e61f0d4e3997c57386b9fbb19e
--- /dev/null
+++ b/justfile
@@ -0,0 +1,11 @@
+alias r := run
+alias d := doc
+
+default:
+ just run
+
+run LEVEL="debug":
+ RUST_LOG=segs={{LEVEL}} cargo r
+
+doc:
+ cargo doc --no-deps --open
diff --git a/src/main.rs b/src/main.rs
index c988cd73ecab35c754722869bba9d6b72dc8df98..b4b269e9b7b5275e1e928d20691a9cc313ccfe95 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,12 +1,31 @@
+mod mavlink;
+mod ui;
+
+use std::{
+ num::NonZeroUsize,
+ sync::{LazyLock, OnceLock},
+};
+
+use mavlink::{MessageBroker, ReflectionContext};
+use parking_lot::Mutex;
+use tokio::runtime::Runtime;
+use tracing_subscriber::{layer::SubscriberExt, util::SubscriberInitExt, EnvFilter, Layer};
use ui::ComposableView;
-mod ui;
+static MSG_MANAGER: OnceLock<Mutex<MessageBroker>> = OnceLock::new();
+static MAVLINK_PROFILE: LazyLock<ReflectionContext> = LazyLock::new(ReflectionContext::new);
static APP_NAME: &str = "segs";
fn main() -> Result<(), eframe::Error> {
// set up logging (USE RUST_LOG=debug to see logs)
- env_logger::init();
+ let env_filter = EnvFilter::builder().from_env_lossy();
+ tracing_subscriber::registry()
+ .with(tracing_subscriber::fmt::layer().with_filter(env_filter))
+ .init();
+
+ let rt = Runtime::new().expect("Unable to create Runtime");
+ let _enter = rt.enter();
let native_options = eframe::NativeOptions {
// By modifying the viewport, we can change things like the windows size
@@ -25,6 +44,12 @@ fn main() -> Result<(), eframe::Error> {
APP_NAME, // This is the app id, used for example by Wayland
native_options,
Box::new(|ctx| {
+ MSG_MANAGER
+ .set(Mutex::new(MessageBroker::new(
+ NonZeroUsize::new(50).unwrap(),
+ ctx.egui_ctx.clone(),
+ )))
+ .expect("Unable to set MessageManager");
let app = ctx
.storage
.map(|storage| ComposableView::new(APP_NAME, storage))
diff --git a/src/mavlink.rs b/src/mavlink.rs
new file mode 100644
index 0000000000000000000000000000000000000000..116f3059f1423ee208bdcde881ca80182f94acae
--- /dev/null
+++ b/src/mavlink.rs
@@ -0,0 +1,10 @@
+mod base;
+mod message_broker;
+mod reflection;
+
+// Export all the types from the base module as if they were defined in this module
+pub use base::*;
+pub use message_broker::{MessageBroker, MessageView};
+pub use reflection::ReflectionContext;
+
+pub const DEFAULT_ETHERNET_PORT: u16 = 42069;
diff --git a/src/mavlink/base.rs b/src/mavlink/base.rs
new file mode 100644
index 0000000000000000000000000000000000000000..f80c2a1eeef30fc14e36ab2f74f84baf226551a1
--- /dev/null
+++ b/src/mavlink/base.rs
@@ -0,0 +1,57 @@
+//! This module is a wrapper around the `skyward_mavlink` crate, facilitates
+//! rapid switching between different mavlink versions and profiles.
+//!
+//! In addition, it provides few utility functions to work with mavlink messages.
+
+use std::time::Instant;
+
+use skyward_mavlink::mavlink::peek_reader::PeekReader;
+
+// Re-export from the mavlink crate
+pub use skyward_mavlink::{
+ mavlink::*, orion::*,
+ reflection::ORION_MAVLINK_PROFILE_SERIALIZED as MAVLINK_PROFILE_SERIALIZED,
+};
+
+/// A wrapper around the `MavMessage` struct, adding a received time field.
+#[derive(Debug, Clone)]
+pub struct TimedMessage {
+ /// The underlying mavlink message
+ pub message: MavMessage,
+ /// The time instant at which the message was received
+ pub time: Instant,
+}
+
+impl TimedMessage {
+ pub fn just_received(message: MavMessage) -> Self {
+ Self {
+ message,
+ time: Instant::now(),
+ }
+ }
+}
+
+pub fn extract_from_message<K, T>(
+ message: &MavMessage,
+ fields: impl IntoIterator<Item = K>,
+) -> Vec<T>
+where
+ K: AsRef<str>,
+ T: serde::de::DeserializeOwned + Default,
+{
+ let value: serde_json::Value = serde_json::to_value(message).unwrap();
+ fields
+ .into_iter()
+ .map(|field| {
+ let field = field.as_ref();
+ let value = value.get(field).unwrap();
+ serde_json::from_value::<T>(value.clone()).unwrap_or_default()
+ })
+ .collect()
+}
+
+/// Helper function to read a stream of bytes and return an iterator of MavLink messages
+pub fn byte_parser(buf: &[u8]) -> impl Iterator<Item = (MavHeader, MavMessage)> + '_ {
+ let mut reader = PeekReader::new(buf);
+ std::iter::from_fn(move || read_v1_msg(&mut reader).ok())
+}
diff --git a/src/mavlink/message_broker.rs b/src/mavlink/message_broker.rs
new file mode 100644
index 0000000000000000000000000000000000000000..0a70820950aebeb1e1477b1ac3d6b3db5a7bfaa2
--- /dev/null
+++ b/src/mavlink/message_broker.rs
@@ -0,0 +1,153 @@
+use std::{
+ collections::{HashMap, VecDeque},
+ num::NonZeroUsize,
+ sync::{
+ atomic::{AtomicBool, Ordering},
+ Arc,
+ },
+};
+
+use anyhow::{Context, Result};
+use egui::{ahash::HashMapExt, IdMap};
+use ring_channel::{ring_channel, RingReceiver, RingSender};
+use tokio::{net::UdpSocket, task::JoinHandle};
+use tracing::debug;
+
+use crate::mavlink::byte_parser;
+
+use super::{Message, TimedMessage};
+
+const UDP_BUFFER_SIZE: usize = 65527;
+
+pub trait MessageView {
+ fn widget_id(&self) -> &egui::Id;
+ fn id_of_interest(&self) -> u32;
+ fn is_valid(&self) -> bool;
+ fn populate_view(&mut self, msg_slice: &[TimedMessage]);
+ fn update_view(&mut self, msg_slice: &[TimedMessage]);
+}
+
+#[derive(Debug)]
+pub struct MessageBroker {
+ // == Messages ==
+ /// map(message ID -> vector of messages received so far)
+ messages: HashMap<u32, Vec<TimedMessage>>,
+ /// map(widget ID -> queue of messages left for update)
+ update_queues: IdMap<(u32, VecDeque<TimedMessage>)>,
+ // == Internal ==
+ /// Flag to stop the listener
+ running_flag: Arc<AtomicBool>,
+ /// Listener message sender
+ tx: RingSender<TimedMessage>,
+ /// Broker message receiver
+ rx: RingReceiver<TimedMessage>,
+ /// Task handle for the listener
+ task: Option<JoinHandle<Result<()>>>,
+ /// Egui context
+ ctx: egui::Context,
+}
+
+impl MessageBroker {
+ pub fn new(channel_size: NonZeroUsize, ctx: egui::Context) -> Self {
+ let (tx, rx) = ring_channel(channel_size);
+ Self {
+ messages: HashMap::new(),
+ update_queues: IdMap::new(),
+ tx,
+ rx,
+ ctx,
+ running_flag: Arc::new(AtomicBool::new(false)),
+ task: None,
+ }
+ }
+
+ pub fn refresh_view<V: MessageView>(&mut self, view: &mut V) {
+ self.process_incoming_msgs();
+ if !view.is_valid() || !self.update_queues.contains_key(view.widget_id()) {
+ self.init_view(view);
+ } else {
+ self.update_view(view);
+ }
+ }
+
+ pub fn stop_listening(&mut self) {
+ self.running_flag.store(false, Ordering::Relaxed);
+ if let Some(t) = self.task.take() {
+ t.abort()
+ }
+ }
+
+ pub fn listen_from_ethernet_port(&mut self, port: u16) {
+ // Stop the current listener if it exists
+ self.stop_listening();
+ self.running_flag.store(true, Ordering::Relaxed);
+
+ let tx = self.tx.clone();
+ let ctx = self.ctx.clone();
+
+ let bind_address = format!("0.0.0.0:{}", port);
+ let mut buf = Box::new([0; UDP_BUFFER_SIZE]);
+ let running_flag = self.running_flag.clone();
+
+ let handle = tokio::spawn(async move {
+ let socket = UdpSocket::bind(bind_address)
+ .await
+ .context("Failed to bind socket")?;
+ debug!("Listening on UDP");
+
+ while running_flag.load(Ordering::Relaxed) {
+ let (len, _) = socket
+ .recv_from(buf.as_mut_slice())
+ .await
+ .context("Failed to receive message")?;
+ for (_, mav_message) in byte_parser(&buf[..len]) {
+ tx.send(TimedMessage::just_received(mav_message))
+ .context("Failed to send message")?;
+ ctx.request_repaint();
+ }
+ }
+
+ Ok::<(), anyhow::Error>(())
+ });
+ self.task = Some(handle);
+ }
+
+ pub fn clear(&mut self) {
+ self.messages.clear();
+ }
+
+ fn init_view<V: MessageView>(&mut self, view: &mut V) {
+ if let Some(messages) = self.messages.get(&view.id_of_interest()) {
+ view.populate_view(messages);
+ }
+ self.update_queues
+ .insert(*view.widget_id(), (view.id_of_interest(), VecDeque::new()));
+ }
+
+ fn update_view<V: MessageView>(&mut self, view: &mut V) {
+ if let Some((_, queue)) = self.update_queues.get_mut(view.widget_id()) {
+ while let Some(msg) = queue.pop_front() {
+ view.update_view(&[msg]);
+ }
+ }
+ }
+
+ fn process_incoming_msgs(&mut self) {
+ while let Ok(message) = self.rx.try_recv() {
+ // first update the update queues
+ for (_, (id, queue)) in self.update_queues.iter_mut() {
+ if *id == message.message.message_id() {
+ queue.push_back(message.clone());
+ }
+ }
+ // then store the message in the messages map
+ self.messages
+ .entry(message.message.message_id())
+ .or_default()
+ .push(message);
+ }
+ }
+
+ // TODO: Implement a scheduler removal of old messages (configurable, must not hurt performance)
+ // TODO: Add a Dashmap if performance is a problem (Personally don't think it will be)
+}
diff --git a/src/mavlink/reflection.rs b/src/mavlink/reflection.rs
new file mode 100644
index 0000000000000000000000000000000000000000..ae2394adc63e7ee27df2800293fe35f619ba5c63
--- /dev/null
+++ b/src/mavlink/reflection.rs
@@ -0,0 +1,98 @@
+use std::collections::HashMap;
+
+use mavlink_bindgen::parser::{MavProfile, MavType};
+
+use super::MAVLINK_PROFILE_SERIALIZED;
+
+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(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 sorted_messages(&self) -> Vec<&str> {
+ let mut msgs: Vec<&str> = self
+ .mavlink_profile
+ .messages
+ .keys()
+ .map(|s| s.as_str())
+ .collect();
+ msgs.sort();
+ msgs
+ }
+
+ 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);
+ })
+ .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);
+ })
+ .iter()
+ .filter(|f| {
+ matches!(
+ f.mavtype,
+ MavType::UInt8
+ | MavType::UInt16
+ | MavType::UInt32
+ | MavType::UInt64
+ | MavType::Int8
+ | MavType::Int16
+ | MavType::Int32
+ | MavType::Int64
+ | MavType::Float
+ | MavType::Double
+ )
+ })
+ .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);
+ })
+ .iter()
+ .map(|f| f.name.as_str())
+ .collect()
+ }
+}
diff --git a/src/ui/composable_view.rs b/src/ui/composable_view.rs
index 7351601b00ded36cf8511ebbc8b90b6fff031910..7b71f6b6d06d2409b82501aa2892b9b8bcca8a34 100644
--- a/src/ui/composable_view.rs
+++ b/src/ui/composable_view.rs
@@ -1,3 +1,5 @@
+use crate::{mavlink, MSG_MANAGER};
+
use super::{
layout_manager::LayoutManager,
panes::{Pane, PaneBehavior, PaneKind},
@@ -21,6 +23,7 @@ pub struct ComposableView {
pub layout_manager: LayoutManager,
behavior: ComposableBehavior,
maximized_pane: Option<TileId>,
+ sources_window: SourceWindow,
}
// An app must implement the `App` trait to define how the ui is built
@@ -126,9 +129,16 @@ impl eframe::App for ComposableView {
// Show a panel at the bottom of the screen with few global controls
egui::TopBottomPanel::bottom("bottom_control").show(ctx, |ui| {
+ // Horizontal belt of controls
ui.horizontal(|ui| {
egui::global_theme_preference_switch(ui);
+ // Window for the sources
+ self.sources_window.show_window(ui);
+
+ if ui.button("Sources").clicked() {
+ self.sources_window.visible = !self.sources_window.visible;
+ }
if ui.button("Layout Manager").clicked() {
self.layout_manager.toggle_open_state();
}
@@ -233,6 +243,60 @@ impl ComposableViewState {
}
}
+struct SourceWindow {
+ port: u16,
+ visible: bool,
+}
+
+impl Default for SourceWindow {
+ fn default() -> Self {
+ Self {
+ port: mavlink::DEFAULT_ETHERNET_PORT,
+ visible: false,
+ }
+ }
+}
+
+impl SourceWindow {
+ fn show_window(&mut self, ui: &mut egui::Ui) {
+ let mut window_is_open = self.visible;
+ let mut can_be_closed = false;
+ egui::Window::new("Sources")
+ .id(ui.id())
+ .auto_sized()
+ .collapsible(false)
+ .movable(true)
+ .open(&mut window_is_open)
+ .show(ui.ctx(), |ui| {
+ self.ui(ui, &mut can_be_closed);
+ });
+ self.visible = window_is_open && !can_be_closed;
+ }
+
+ fn ui(&mut self, ui: &mut egui::Ui, can_be_closed: &mut bool) {
+ egui::Grid::new(ui.id())
+ .num_columns(2)
+ .spacing([10.0, 5.0])
+ .show(ui, |ui| {
+ ui.label("Ethernet Port:");
+ ui.add(
+ egui::DragValue::new(&mut self.port)
+ .range(0..=65535)
+ .speed(10),
+ );
+ ui.end_row();
+ });
+ if ui.button("Connect").clicked() {
+ MSG_MANAGER
+ .get()
+ .unwrap()
+ .lock()
+ .listen_from_ethernet_port(self.port);
+ *can_be_closed = true;
+ }
+ }
+}
+
/// Behavior for the tree of panes in the composable view
#[derive(Default)]
pub struct ComposableBehavior {
diff --git a/src/ui/panes.rs b/src/ui/panes.rs
index 50c4f9007cbb314cceb2d684fc068feaf6714e52..c0ae378ce1336e592e85f93ed9d5177c2c3ac0ce 100644
--- a/src/ui/panes.rs
+++ b/src/ui/panes.rs
@@ -1,25 +1,17 @@
mod default;
mod messages_viewer;
-mod plot_2d;
+mod plot;
use enum_dispatch::enum_dispatch;
use serde::{Deserialize, Serialize};
use super::composable_view::PaneResponse;
-#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
+#[derive(Clone, Debug, PartialEq, Default, Serialize, Deserialize)]
pub struct Pane {
pub pane: PaneKind,
}
-impl Default for Pane {
- fn default() -> Self {
- Self {
- pane: PaneKind::default(),
- }
- }
-}
-
impl Pane {
pub fn boxed(pane: PaneKind) -> Box<Self> {
Box::new(Self { pane })
@@ -48,7 +40,7 @@ impl PaneBehavior for Pane {
pub enum PaneKind {
Default(default::DefaultPane),
MessagesViewer(messages_viewer::MessagesViewerPane),
- Plot2D(plot_2d::Plot2DPane),
+ Plot2D(plot::Plot2DPane),
}
impl Default for PaneKind {
diff --git a/src/ui/panes/default.rs b/src/ui/panes/default.rs
index 2d1b51aeed68fff6033806ca74eed0e3106705e5..3cfd31c2a6e04b159fed5b6bb16a46680c59c0d2 100644
--- a/src/ui/panes/default.rs
+++ b/src/ui/panes/default.rs
@@ -1,13 +1,16 @@
-use super::{plot_2d::Plot2DPane, Pane, PaneBehavior, PaneKind};
+use super::{plot::Plot2DPane, Pane, PaneBehavior, PaneKind};
use serde::{Deserialize, Serialize};
+use tracing::debug;
-use crate::ui::composable_view::{PaneAction, PaneResponse};
+use crate::ui::{
+ composable_view::{PaneAction, PaneResponse},
+ utils::{vertically_centered, SizingMemo},
+};
#[derive(Clone, Debug, Serialize, Deserialize)]
pub struct DefaultPane {
- occupied: f32,
- fixed: bool,
-
+ #[serde(skip)]
+ centering_memo: SizingMemo,
#[serde(skip)]
contains_pointer: bool,
}
@@ -15,8 +18,7 @@ pub struct DefaultPane {
impl Default for DefaultPane {
fn default() -> Self {
DefaultPane {
- occupied: 0.0,
- fixed: false,
+ centering_memo: SizingMemo::default(),
contains_pointer: false,
}
}
@@ -24,55 +26,36 @@ impl Default for DefaultPane {
impl PartialEq for DefaultPane {
fn eq(&self, other: &Self) -> bool {
- self.occupied == other.occupied && self.fixed == other.fixed
+ true
}
}
impl PaneBehavior for DefaultPane {
fn ui(&mut self, ui: &mut egui::Ui) -> PaneResponse {
let mut response = PaneResponse::default();
- let pane_rect = ui.max_rect();
- let parent = ui.vertical_centered(|ui| {
- let hpad = (pane_rect.height() - self.occupied) / 2.0;
- if self.fixed {
- ui.add_space(hpad);
- }
- let mut height_occupied = 0.0;
- let btn = ui.button("Vertical Split");
- if btn.clicked() {
- response.set_action(PaneAction::SplitV);
- log::debug!("Vertical Split button clicked");
- }
- height_occupied += btn.rect.height();
- let btn = ui.button("Horizontal Split");
- if btn.clicked() {
- response.set_action(PaneAction::SplitH);
- log::debug!("Horizontal Split button clicked");
- }
- height_occupied += btn.rect.height();
- let btn = ui.button("Plot");
- if btn.clicked() {
- response.set_action(PaneAction::Replace(Pane::boxed(PaneKind::Plot2D(
- Plot2DPane::default(),
- ))));
- }
- height_occupied += btn.rect.height();
- if !self.fixed {
- self.occupied = height_occupied;
- ui.ctx().request_discard("test");
- self.fixed = true;
- }
- if self.fixed {
- ui.add_space(hpad);
- }
- ui.set_min_height(pane_rect.height());
+ let parent = vertically_centered(ui, &mut self.centering_memo, |ui| {
+ ui.vertical_centered(|ui| {
+ if ui.button("Vertical Split").clicked() {
+ response.set_action(PaneAction::SplitV);
+ debug!("Vertical Split button clicked");
+ }
+ if ui.button("Horizontal Split").clicked() {
+ response.set_action(PaneAction::SplitH);
+ debug!("Horizontal Split button clicked");
+ }
+ if ui.button("Plot").clicked() {
+ response.set_action(PaneAction::Replace(Pane::boxed(PaneKind::Plot2D(
+ Plot2DPane::new(ui.auto_id_with("plot_2d")),
+ ))));
+ }
+ })
+ .response
});
- self.contains_pointer = parent.response.contains_pointer();
+ self.contains_pointer = parent.contains_pointer();
if parent
- .response
.interact(egui::Sense::click_and_drag())
.on_hover_cursor(egui::CursorIcon::Grab)
.dragged()
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
new file mode 100644
index 0000000000000000000000000000000000000000..16b90332e33fae3b1ca51f70c133d680bd660f7e
--- /dev/null
+++ b/src/ui/panes/plot.rs
@@ -0,0 +1,248 @@
+mod source_window;
+
+use egui::{Color32, Vec2b};
+use egui_plot::{Legend, Line, PlotPoints};
+use serde::{Deserialize, Serialize};
+use source_window::{sources_window, SourceSettings};
+
+use crate::{
+ mavlink::{
+ extract_from_message, MessageData, MessageView, TimedMessage, ROCKET_FLIGHT_TM_DATA,
+ },
+ ui::composable_view::PaneResponse,
+ MSG_MANAGER,
+};
+
+use super::PaneBehavior;
+
+#[derive(Clone, Debug, Serialize, Deserialize)]
+pub struct Plot2DPane {
+ // UI settings
+ #[serde(skip)]
+ pub contains_pointer: bool,
+ #[serde(skip)]
+ settings_visible: bool,
+ line_settings: Vec<LineSettings>,
+ plot_active: bool,
+ view: PlotMessageView,
+}
+
+impl Plot2DPane {
+ pub fn new(id: egui::Id) -> Self {
+ Self {
+ contains_pointer: false,
+ settings_visible: false,
+ line_settings: vec![],
+ plot_active: false,
+ view: PlotMessageView::new(id),
+ }
+ }
+}
+
+impl PartialEq for Plot2DPane {
+ fn eq(&self, other: &Self) -> bool {
+ self.view.settings == other.view.settings
+ && self.line_settings == other.line_settings
+ && self.plot_active == other.plot_active
+ }
+}
+
+impl PaneBehavior for Plot2DPane {
+ fn ui(&mut self, ui: &mut egui::Ui) -> PaneResponse {
+ let mut response = PaneResponse::default();
+
+ let Self {
+ line_settings: plot_lines,
+ settings_visible,
+ plot_active,
+ view,
+ ..
+ } = self;
+
+ let mut settings = SourceSettings::new(&mut view.settings, plot_lines);
+ egui::Window::new("Plot Settings")
+ .id(ui.auto_id_with("plot_settings")) // TODO: fix this issue with ids
+ .auto_sized()
+ .collapsible(true)
+ .movable(true)
+ .open(settings_visible)
+ .show(ui.ctx(), |ui| sources_window(ui, &mut settings));
+ // if settings are changed, invalidate the cache
+ view.cache_valid = !settings.are_sources_changed();
+ // if there are no fields, do not plot
+ *plot_active = !settings.fields_empty();
+
+ let ctrl_pressed = ui.input(|i| i.modifiers.ctrl);
+
+ let mut plot_lines = Vec::new();
+ if self.plot_active {
+ MSG_MANAGER.get().unwrap().lock().refresh_view(view);
+ let acc_points = &view.points;
+
+ let field_x = &view.settings.x_field;
+ if !acc_points.is_empty() {
+ for (i, plot_line) in self.line_settings.iter().enumerate() {
+ let points: Vec<[f64; 2]> = {
+ let iter = acc_points.iter();
+ if field_x == "timestamp" {
+ iter.map(|(x, ys)| [x / 1e6, ys[i]]).collect()
+ } else {
+ iter.map(|(x, ys)| [*x, ys[i]]).collect()
+ }
+ };
+ plot_lines.push((plot_line.clone(), points));
+ }
+ }
+ }
+
+ let plot = egui_plot::Plot::new("plot")
+ .auto_bounds(Vec2b::TRUE)
+ .legend(Legend::default())
+ .label_formatter(|name, value| format!("{} - x:{:.2} y:{:.2}", name, value.x, value.y));
+ 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();
+ }
+ for (plot_settings, data_points) in plot_lines {
+ plot_ui.line(
+ Line::new(PlotPoints::from(data_points))
+ .color(plot_settings.color)
+ .width(plot_settings.width)
+ .name(&plot_settings.field),
+ );
+ }
+ plot_ui
+ .response()
+ .context_menu(|ui| show_menu(ui, settings_visible));
+ });
+
+ response
+ }
+
+ fn contains_pointer(&self) -> bool {
+ self.contains_pointer
+ }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+struct PlotMessageView {
+ // == Settings from the UI ==
+ settings: MsgSources,
+ // == Data ==
+ #[serde(skip)]
+ points: Vec<(f64, Vec<f64>)>,
+ // == Internal ==
+ id: egui::Id,
+ #[serde(skip)]
+ cache_valid: bool,
+}
+
+impl PlotMessageView {
+ fn new(id: egui::Id) -> Self {
+ Self {
+ settings: Default::default(),
+ points: Vec::new(),
+ id,
+ cache_valid: false,
+ }
+ }
+}
+
+impl MessageView for PlotMessageView {
+ fn widget_id(&self) -> &egui::Id {
+ &self.id
+ }
+
+ fn id_of_interest(&self) -> u32 {
+ self.settings.msg_id
+ }
+
+ fn is_valid(&self) -> bool {
+ self.cache_valid
+ }
+
+ fn populate_view(&mut self, msg_slice: &[TimedMessage]) {
+ self.points.clear();
+ let MsgSources {
+ x_field, y_fields, ..
+ } = &self.settings;
+ for msg in msg_slice {
+ let x: f64 = extract_from_message(&msg.message, [x_field])[0];
+ let ys: Vec<f64> = extract_from_message(&msg.message, y_fields);
+ self.points.push((x, ys));
+ }
+ }
+
+ fn update_view(&mut self, msg_slice: &[TimedMessage]) {
+ let MsgSources {
+ x_field, y_fields, ..
+ } = &self.settings;
+ for msg in msg_slice {
+ let x: f64 = extract_from_message(&msg.message, [x_field])[0];
+ let ys: Vec<f64> = extract_from_message(&msg.message, y_fields);
+ self.points.push((x, ys));
+ }
+ }
+}
+
+#[derive(Clone, Debug, Serialize, Deserialize)]
+struct MsgSources {
+ msg_id: u32,
+ x_field: String,
+ y_fields: Vec<String>,
+}
+
+impl Default for MsgSources {
+ fn default() -> Self {
+ Self {
+ msg_id: ROCKET_FLIGHT_TM_DATA::ID,
+ x_field: "timestamp".to_owned(),
+ y_fields: Vec::new(),
+ }
+ }
+}
+
+impl PartialEq for MsgSources {
+ fn eq(&self, other: &Self) -> bool {
+ self.msg_id == other.msg_id
+ && self.x_field == other.x_field
+ && self.y_fields == other.y_fields
+ }
+}
+
+#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
+struct LineSettings {
+ field: String,
+ width: f32,
+ color: Color32,
+}
+
+impl Default for LineSettings {
+ fn default() -> Self {
+ Self {
+ field: "".to_owned(),
+ width: 1.0,
+ color: Color32::BLUE,
+ }
+ }
+}
+
+impl LineSettings {
+ fn new(field_y: String) -> Self {
+ Self {
+ field: field_y,
+ ..Default::default()
+ }
+ }
+}
+
+fn show_menu(ui: &mut egui::Ui, settings_visible: &mut bool) {
+ ui.set_max_width(200.0); // To make sure we wrap long text
+
+ if ui.button("Settings…").clicked() {
+ *settings_visible = true;
+ ui.close_menu();
+ }
+}
diff --git a/src/ui/panes/plot/source_window.rs b/src/ui/panes/plot/source_window.rs
new file mode 100644
index 0000000000000000000000000000000000000000..ecb4d610275296b0fc236b86d0c15c5418accf07
--- /dev/null
+++ b/src/ui/panes/plot/source_window.rs
@@ -0,0 +1,185 @@
+use crate::{
+ mavlink::{MavMessage, Message},
+ MAVLINK_PROFILE,
+};
+
+use super::{LineSettings, MsgSources};
+
+pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut SourceSettings) {
+ // extract the msg name from the id to show it in the combo box
+ let msg_name = MAVLINK_PROFILE
+ .get_name_from_id(*plot_settings.get_msg_id())
+ .unwrap_or_default();
+
+ // show the first combo box with the message name selection
+ egui::ComboBox::from_label("Message Kind")
+ .selected_text(msg_name)
+ .show_ui(ui, |ui| {
+ for msg in MAVLINK_PROFILE.sorted_messages() {
+ ui.selectable_value(
+ plot_settings.get_mut_msg_id(),
+ MavMessage::message_id_from_name(msg).unwrap(),
+ msg,
+ );
+ }
+ });
+
+ // reset fields if the message is changed
+ if plot_settings.is_msg_id_changed() {
+ plot_settings.clear_fields();
+ }
+
+ // check fields and assign a default field_x and field_y once the msg is changed
+ let fields = MAVLINK_PROFILE.get_plottable_fields_by_id(*plot_settings.get_msg_id());
+ // get the first field that is in the list of fields or the previous if valid
+ let x_field = plot_settings.get_x_field();
+ let new_field_x = fields
+ .contains(&x_field)
+ .then(|| x_field.to_owned())
+ .or(fields.first().map(|s| s.to_string()));
+
+ // if there are no fields, reset the field_x and plot_lines
+ let Some(new_field_x) = new_field_x else {
+ plot_settings.clear_fields();
+ return;
+ };
+ // update the field_x
+ plot_settings.set_x_field(new_field_x);
+ let x_field = plot_settings.get_mut_x_field();
+
+ // if fields are valid, show the combo boxes for the x_axis
+ egui::ComboBox::from_label("X Axis")
+ .selected_text(x_field.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(x_field, (*msg).to_owned(), *msg);
+ }
+ });
+
+ // populate the plot_lines with the first field if it is empty and there are more than 1 fields
+ if plot_settings.fields_empty() && fields.len() > 1 {
+ plot_settings.add_field(fields[1].to_string());
+ }
+
+ // check how many fields are left and how many are selected
+ let plot_lines_len = plot_settings.fields_len();
+ egui::Grid::new(ui.auto_id_with("y_axis"))
+ .num_columns(3)
+ .spacing([10.0, 2.5])
+ .show(ui, |ui| {
+ for (i, line_settings) in plot_settings.line_settings.iter_mut().enumerate() {
+ let LineSettings {
+ field,
+ width,
+ color,
+ } = line_settings;
+ let widget_label = if plot_lines_len > 1 {
+ format!("Y Axis {}", i + 1)
+ } else {
+ "Y Axis".to_owned()
+ };
+ 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);
+ }
+ });
+ ui.color_edit_button_srgba(color);
+ ui.add(egui::DragValue::new(width).speed(0.1).suffix(" pt"))
+ .on_hover_text("Width of the line in points");
+ ui.end_row();
+ }
+ });
+ // Sync changes applied to line_settings with msg_sources
+ plot_settings.sync_fields_with_lines();
+
+ // if we have fields left, show the add button
+ if fields.len().saturating_sub(plot_lines_len + 1) > 0
+ && ui
+ .button("Add Y Axis")
+ .on_hover_text("Add another Y axis")
+ .clicked()
+ {
+ let next_field = fields
+ .iter()
+ .find(|f| !plot_settings.contains_field(f))
+ .unwrap();
+ plot_settings.add_field(next_field.to_string());
+ }
+}
+
+pub struct SourceSettings<'a> {
+ msg_sources: &'a mut MsgSources,
+ old_msg_sources: MsgSources,
+ line_settings: &'a mut Vec<LineSettings>,
+}
+
+impl<'a> SourceSettings<'a> {
+ pub fn new(msg_sources: &'a mut MsgSources, line_settings: &'a mut Vec<LineSettings>) -> Self {
+ Self {
+ old_msg_sources: msg_sources.clone(),
+ msg_sources,
+ line_settings,
+ }
+ }
+
+ pub fn are_sources_changed(&self) -> bool {
+ self.msg_sources != &self.old_msg_sources
+ }
+
+ pub fn fields_empty(&self) -> bool {
+ self.msg_sources.y_fields.is_empty()
+ }
+
+ fn get_msg_id(&self) -> &u32 {
+ &self.msg_sources.msg_id
+ }
+
+ fn get_x_field(&self) -> &str {
+ &self.msg_sources.x_field
+ }
+
+ fn get_mut_msg_id(&mut self) -> &mut u32 {
+ &mut self.msg_sources.msg_id
+ }
+
+ fn get_mut_x_field(&mut self) -> &mut String {
+ &mut self.msg_sources.x_field
+ }
+
+ fn set_x_field(&mut self, field: String) {
+ self.msg_sources.x_field = field;
+ }
+
+ fn fields_len(&self) -> usize {
+ self.msg_sources.y_fields.len()
+ }
+
+ fn is_msg_id_changed(&self) -> bool {
+ self.msg_sources.msg_id != self.old_msg_sources.msg_id
+ }
+
+ fn contains_field(&self, field: &str) -> bool {
+ self.msg_sources.y_fields.contains(&field.to_owned())
+ }
+
+ fn sync_fields_with_lines(&mut self) {
+ self.msg_sources.y_fields = self
+ .line_settings
+ .iter()
+ .map(|ls| ls.field.clone())
+ .collect();
+ }
+
+ fn add_field(&mut self, field: String) {
+ self.line_settings.push(LineSettings::new(field.clone()));
+ self.msg_sources.y_fields.push(field);
+ }
+
+ fn clear_fields(&mut self) {
+ self.msg_sources.y_fields.clear();
+ self.line_settings.clear();
+ self.msg_sources.x_field = "".to_owned();
+ }
+}
diff --git a/src/ui/panes/plot_2d.rs b/src/ui/panes/plot_2d.rs
deleted file mode 100644
index 6ac065822b6fdf0711e8cac9f229f2f8ea87d196..0000000000000000000000000000000000000000
--- a/src/ui/panes/plot_2d.rs
+++ /dev/null
@@ -1,119 +0,0 @@
-use crate::ui::composable_view::PaneResponse;
-
-use super::PaneBehavior;
-
-use egui_plot::{Line, PlotPoints};
-use serde::{Deserialize, Serialize};
-
-#[derive(Clone, Debug, Serialize, Deserialize)]
-pub struct Plot2DPane {
- n_points: u32,
- frequency: f64,
- width: f32,
- color: egui::Color32,
-
- #[serde(skip)]
- pub contains_pointer: bool,
-
- #[serde(skip)]
- settings_visible: bool,
-}
-
-impl Default for Plot2DPane {
- fn default() -> Self {
- Self {
- contains_pointer: false,
- settings_visible: false,
- n_points: 2,
- frequency: 1.0,
- width: 1.0,
- color: egui::Color32::from_rgb(0, 120, 240),
- }
- }
-}
-
-impl PartialEq for Plot2DPane {
- fn eq(&self, other: &Self) -> bool {
- self.n_points == other.n_points
- && self.frequency == other.frequency
- && self.width == other.width
- && self.color == other.color
- }
-}
-
-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;
- egui::Window::new("Plot Settings")
- .id(ui.id())
- .auto_sized()
- .collapsible(true)
- .movable(true)
- .open(&mut window_visible)
- .show(ui.ctx(), |ui| self.settings_window(ui));
- self.settings_visible = window_visible;
-
- let ctrl_pressed = ui.input(|i| i.modifiers.ctrl);
-
- let plot = egui_plot::Plot::new("plot");
- 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),
- );
- plot_ui.response().context_menu(|ui| self.menu(ui));
- });
-
- response
- }
-
- fn contains_pointer(&self) -> bool {
- self.contains_pointer
- }
-}
-
-impl Plot2DPane {
- fn menu(&mut self, ui: &mut egui::Ui) {
- ui.set_max_width(200.0); // To make sure we wrap long text
-
- if ui.button("Settings…").clicked() {
- self.settings_visible = true;
- ui.close_menu();
- }
- }
-
- fn settings_window(&mut self, ui: &mut egui::Ui) {
- egui::Grid::new(ui.id())
- .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();
-
- ui.label("Width:");
- ui.add(egui::Slider::new(&mut self.width, 0.1..=10.0).text("pt"));
- ui.end_row();
- });
- }
-}
diff --git a/src/ui/utils.rs b/src/ui/utils.rs
index b9f510bda78fab7513f25defa33d1377ffdd6cd7..3172463e01bd62f94570e37218be9dd3447f730b 100644
--- a/src/ui/utils.rs
+++ b/src/ui/utils.rs
@@ -1,5 +1,5 @@
use egui::containers::Frame;
-use egui::{Shadow, Stroke, Style, Ui};
+use egui::{Response, Shadow, Stroke, Style, Ui};
use super::panes::{Pane, PaneBehavior};
@@ -12,3 +12,32 @@ pub fn maximized_pane_ui(ui: &mut Ui, pane: &mut Pane) {
.stroke(Stroke::NONE)
.show(ui, |ui| pane.ui(ui));
}
+
+#[derive(Debug, Default, Clone)]
+pub struct SizingMemo {
+ occupied_height: f32,
+ sizing_pass_done: bool,
+}
+
+pub fn vertically_centered(
+ ui: &mut Ui,
+ memo: &mut SizingMemo,
+ add_contents: impl FnOnce(&mut Ui) -> Response,
+) -> egui::Response {
+ if !memo.sizing_pass_done {
+ let r = add_contents(ui);
+ memo.occupied_height = r.rect.height();
+ memo.sizing_pass_done = true;
+ ui.ctx()
+ .request_discard("horizontally_centered requires a sizing pass");
+ r
+ } else {
+ let spacing = (ui.available_height() - memo.occupied_height) / 2.0;
+ ui.vertical_centered(|ui| {
+ ui.add_space(spacing);
+ add_contents(ui);
+ ui.add_space(spacing);
+ })
+ .response
+ }
+}