diff --git a/src/mavlink.rs b/src/mavlink.rs
index f1517ccf525029cb9782ba848669ab65611fb369..9a05aa884935d8e1f278f356abc7ecc16faf320f 100644
--- a/src/mavlink.rs
+++ b/src/mavlink.rs
@@ -34,4 +34,8 @@ impl TimedMessage {
time: Instant::now(),
}
}
+
+ pub fn id(&self) -> u32 {
+ self.message.message_id()
+ }
}
diff --git a/src/message_broker.rs b/src/message_broker.rs
index 7cf10e703a48e9144e2d6577723b453930ceddd8..ddf1c1717dbeb0849581b28dc43f2c33d5cdad9c 100644
--- a/src/message_broker.rs
+++ b/src/message_broker.rs
@@ -11,7 +11,6 @@ pub use message_bundle::MessageBundle;
use reception_queue::ReceptionQueue;
use std::{
- collections::HashMap,
sync::{Arc, Mutex},
time::Duration,
};
@@ -21,7 +20,7 @@ use tracing::error;
use crate::{
communication::{Connection, ConnectionError, TransceiverConfigExt},
error::ErrInstrument,
- mavlink::{MavFrame, MavHeader, MavMessage, MavlinkVersion, Message, TimedMessage},
+ mavlink::{MavFrame, MavHeader, MavMessage, MavlinkVersion, TimedMessage},
};
const RECEPTION_QUEUE_INTERVAL: Duration = Duration::from_secs(1);
@@ -34,7 +33,7 @@ const SEGS_COMPONENT_ID: u8 = 1;
/// dispatching them to the views that are interested in them.
pub struct MessageBroker {
/// A map of all messages received so far, indexed by message ID
- messages: HashMap<u32, Vec<TimedMessage>>,
+ messages: Vec<TimedMessage>,
/// instant queue used for frequency calculation and reception time
last_receptions: Arc<Mutex<ReceptionQueue>>,
/// Connection to the Mavlink listener
@@ -47,7 +46,7 @@ impl MessageBroker {
/// Creates a new `MessageBroker` with the given channel size and Egui context.
pub fn new(ctx: egui::Context) -> Self {
Self {
- messages: HashMap::new(),
+ messages: Vec::new(),
// TODO: make this configurable
last_receptions: Arc::new(Mutex::new(ReceptionQueue::new(RECEPTION_QUEUE_INTERVAL))),
connection: None,
@@ -88,8 +87,11 @@ impl MessageBroker {
self.last_receptions.lock().log_unwrap().frequency()
}
- pub fn get(&self, id: u32) -> &[TimedMessage] {
- self.messages.get(&id).map_or(&[], |v| v.as_slice())
+ pub fn get(&self, ids: &[u32]) -> Vec<&TimedMessage> {
+ self.messages
+ .iter()
+ .filter(|msg| ids.contains(&msg.id()))
+ .collect()
}
/// Processes incoming network messages. New messages are added to the
@@ -108,10 +110,7 @@ impl MessageBroker {
self.last_receptions.lock().log_unwrap().push(message.time);
// Store the message in the broker
- self.messages
- .entry(message.message.message_id())
- .or_default()
- .push(message);
+ self.messages.push(message);
}
self.ctx.request_repaint();
}
diff --git a/src/message_broker/message_bundle.rs b/src/message_broker/message_bundle.rs
index 52568b935f267e0af070423a746299ddba2151c7..eaa06df7254819bf6e9c348c094343a589cb7f97 100644
--- a/src/message_broker/message_bundle.rs
+++ b/src/message_broker/message_bundle.rs
@@ -1,4 +1,4 @@
-use crate::mavlink::{Message, TimedMessage};
+use crate::mavlink::TimedMessage;
/// A bundle of messages, indexed by their ID.
/// Allows for efficient storage and retrieval of messages by ID.
@@ -10,36 +10,22 @@ use crate::mavlink::{Message, TimedMessage};
/// method to clear the content of the bundle and prepare it for reuse.
#[derive(Default)]
pub struct MessageBundle {
- storage: Vec<(u32, Vec<TimedMessage>)>,
+ storage: Vec<TimedMessage>,
count: u32,
}
impl MessageBundle {
/// Returns all messages of the given ID contained in the bundle.
- pub fn get(&self, id: u32) -> &[TimedMessage] {
+ pub fn get(&self, ids: &[u32]) -> Vec<&TimedMessage> {
self.storage
.iter()
- .find(|&&(queue_id, _)| queue_id == id)
- .map_or(&[], |(_, messages)| messages.as_slice())
+ .filter(|msg| ids.contains(&msg.id()))
+ .collect()
}
/// Inserts a new message into the bundle.
pub fn insert(&mut self, message: TimedMessage) {
- let message_id = message.message.message_id();
-
- // Retrieve the queue for the ID, if it exists
- let maybe_queue = self
- .storage
- .iter_mut()
- .find(|&&mut (queue_id, _)| queue_id == message_id)
- .map(|(_, queue)| queue);
-
- if let Some(queue) = maybe_queue {
- queue.push(message);
- } else {
- self.storage.push((message_id, vec![message]));
- }
-
+ self.storage.push(message);
self.count += 1;
}
@@ -49,15 +35,9 @@ impl MessageBundle {
}
/// Resets the content of the bundle, preparing it to be efficiently reused.
- /// Effectively, it clears the content of the bundle, but with lower
- /// allocation cost the next time the bundle is reused.
+ /// Effectively, it clears the content of the bundle.
pub fn reset(&mut self) {
- // Clear the individual queues instead of the full storage, to avoid
- // the allocation cost of the already used per-id queues.
- for (_, queue) in &mut self.storage {
- queue.clear();
- }
-
+ self.storage.clear();
self.count = 0;
}
}
diff --git a/src/ui/app.rs b/src/ui/app.rs
index ad8fa9fe0387921d5596236afa2f415efecbe8e5..902e5860bc472feb991261d1eb49c62519a111fd 100644
--- a/src/ui/app.rs
+++ b/src/ui/app.rs
@@ -318,14 +318,12 @@ impl App {
// Skip non-pane tiles
let Tile::Pane(pane) = tile else { continue };
// Skip panes that do not have a subscription
- let Some(sub_id) = pane.get_message_subscription() else {
- continue;
- };
+ let sub_ids: Vec<u32> = pane.get_message_subscriptions().collect();
if pane.should_send_message_history() {
- pane.update(self.message_broker.get(sub_id));
+ pane.update(self.message_broker.get(&sub_ids[..]).as_slice());
} else {
- pane.update(self.message_bundle.get(sub_id));
+ pane.update(self.message_bundle.get(&sub_ids[..]).as_slice());
}
}
diff --git a/src/ui/panes.rs b/src/ui/panes.rs
index 9b27514344054069934b1ff81472c9e7052b5cf6..5d031f3abf6888b69894e3d6899ea776eb9a8696 100644
--- a/src/ui/panes.rs
+++ b/src/ui/panes.rs
@@ -34,11 +34,11 @@ pub trait PaneBehavior {
/// Updates the pane state. This method is called before `ui` to allow the
/// pane to update its state based on the messages received.
- fn update(&mut self, _messages: &[TimedMessage]) {}
+ fn update(&mut self, _messages: &[&TimedMessage]) {}
/// Returns the ID of the messages this pane is interested in, if any.
- fn get_message_subscription(&self) -> Option<u32> {
- None
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ Box::new(None.into_iter())
}
/// Checks whether the full message history should be sent to the pane.
@@ -61,12 +61,12 @@ impl PaneBehavior for Pane {
self.pane.contains_pointer()
}
- fn update(&mut self, messages: &[TimedMessage]) {
+ fn update(&mut self, messages: &[&TimedMessage]) {
self.pane.update(messages)
}
- fn get_message_subscription(&self) -> Option<u32> {
- self.pane.get_message_subscription()
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ self.pane.get_message_subscriptions()
}
fn should_send_message_history(&self) -> bool {
diff --git a/src/ui/panes/default.rs b/src/ui/panes/default.rs
index c3f7979e5ec83ea72df13087940f2fec997af02b..e4d1befeda37b7cca5ed8d10cd23c3a18d81527e 100644
--- a/src/ui/panes/default.rs
+++ b/src/ui/panes/default.rs
@@ -2,9 +2,12 @@ use super::PaneBehavior;
use serde::{Deserialize, Serialize};
use tracing::debug;
-use crate::ui::{
- app::{PaneAction, PaneResponse},
- utils::{SizingMemo, vertically_centered},
+use crate::{
+ mavlink::TimedMessage,
+ ui::{
+ app::{PaneAction, PaneResponse},
+ utils::{SizingMemo, vertically_centered},
+ },
};
#[derive(Clone, Debug, Default, Serialize, Deserialize)]
@@ -60,10 +63,10 @@ impl PaneBehavior for DefaultPane {
self.contains_pointer
}
- fn update(&mut self, _messages: &[crate::mavlink::TimedMessage]) {}
+ fn update(&mut self, _messages: &[&TimedMessage]) {}
- fn get_message_subscription(&self) -> Option<u32> {
- None
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ Box::new(None.into_iter())
}
fn should_send_message_history(&self) -> bool {
diff --git a/src/ui/panes/pid_drawing_tool.rs b/src/ui/panes/pid_drawing_tool.rs
index 57c49cab71c6ad5e3a89c9b3e1fea908a55ea3b3..6f7695ebc98510a0f467e500dcae13020590faa3 100644
--- a/src/ui/panes/pid_drawing_tool.rs
+++ b/src/ui/panes/pid_drawing_tool.rs
@@ -151,7 +151,7 @@ impl PaneBehavior for PidPane {
self.contains_pointer
}
- fn update(&mut self, messages: &[TimedMessage]) {
+ fn update(&mut self, messages: &[&TimedMessage]) {
if let Some(msg) = messages.last() {
for element in &mut self.elements {
element.update(&msg.message, self.message_subscription_id);
@@ -159,8 +159,8 @@ impl PaneBehavior for PidPane {
}
}
- fn get_message_subscription(&self) -> Option<u32> {
- Some(self.message_subscription_id)
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ Box::new(Some(self.message_subscription_id).into_iter())
}
}
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
index 684f2211ad620a4edc404c170e05ee2916ef75ab..42444abb31fb64a6bf431b8b79d806ad7d489ad2 100644
--- a/src/ui/panes/plot.rs
+++ b/src/ui/panes/plot.rs
@@ -186,7 +186,7 @@ impl PaneBehavior for Plot2DPane {
}
#[profiling::function]
- fn update(&mut self, messages: &[TimedMessage]) {
+ fn update(&mut self, messages: &[&TimedMessage]) {
if !self.state_valid {
self.line_data.clear();
}
@@ -226,8 +226,8 @@ impl PaneBehavior for Plot2DPane {
self.state_valid = true;
}
- fn get_message_subscription(&self) -> Option<u32> {
- Some(self.settings.plot_message_id)
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ Box::new(Some(self.settings.plot_message_id).into_iter())
}
fn should_send_message_history(&self) -> bool {