From 8b001bb0445f3e89f5b0331dd9a30a73af75d0ff Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sat, 8 Mar 2025 17:22:35 +0100
Subject: [PATCH 1/8] CHECKPOINT
---
Cargo.lock | 58 ++++---
Cargo.toml | 12 +-
src/communication/error.rs | 2 -
src/communication/ethernet.rs | 2 +-
src/main.rs | 2 +-
src/mavlink.rs | 32 +++-
src/mavlink/base.rs | 60 -------
src/mavlink/reflection.rs | 225 ++++++++++++++++++++------
src/ui/panes/plot.rs | 252 ++++++++++++++++++++++-------
src/ui/panes/plot/source_window.rs | 221 +++++++++++++------------
10 files changed, 569 insertions(+), 297 deletions(-)
delete mode 100644 src/mavlink/base.rs
diff --git a/Cargo.lock b/Cargo.lock
index 9ba641e..a36da14 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2005,14 +2005,26 @@ dependencies = [
[[package]]
name = "mavlink-bindgen"
-version = "0.13.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f83b15a4ad504e29cabfb03fdc97250a22d2354a5404d80fc48dbf02e06acf5f"
+version = "0.14.0"
+dependencies = [
+ "crc-any",
+ "lazy_static",
+ "proc-macro2",
+ "quick-xml 0.36.2",
+ "quote",
+ "serde",
+ "thiserror 1.0.69",
+]
+
+[[package]]
+name = "mavlink-bindgen"
+version = "0.14.0"
+source = "git+https://git.skywarder.eu/avn/swd/mavlink/rust-mavlink.git?rev=b7446436b3c96ca4c40d28b54eeed346e7bf021e#b7446436b3c96ca4c40d28b54eeed346e7bf021e"
dependencies = [
"crc-any",
"lazy_static",
"proc-macro2",
- "quick-xml 0.26.0",
+ "quick-xml 0.36.2",
"quote",
"serde",
"thiserror 1.0.69",
@@ -2020,9 +2032,8 @@ dependencies = [
[[package]]
name = "mavlink-core"
-version = "0.13.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e64d975ca3cf0ad8a7c278553f91d77de15fcde9b79bf6bc542e209dd0c7dee"
+version = "0.14.0"
+source = "git+https://git.skywarder.eu/avn/swd/mavlink/rust-mavlink.git?rev=b7446436b3c96ca4c40d28b54eeed346e7bf021e#b7446436b3c96ca4c40d28b54eeed346e7bf021e"
dependencies = [
"byteorder",
"crc-any",
@@ -2698,21 +2709,21 @@ dependencies = [
[[package]]
name = "quick-xml"
-version = "0.26.0"
+version = "0.30.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f50b1c63b38611e7d4d7f68b82d3ad0cc71a2ad2e7f61fc10f1328d917c93cd"
+checksum = "eff6510e86862b57b210fd8cbe8ed3f0d7d600b9c2863cd4549a2e033c66e956"
dependencies = [
"memchr",
+ "serde",
]
[[package]]
name = "quick-xml"
-version = "0.30.0"
+version = "0.36.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eff6510e86862b57b210fd8cbe8ed3f0d7d600b9c2863cd4549a2e033c66e956"
+checksum = "f7649a7b4df05aed9ea7ec6f628c67c9953a43869b8bc50929569b2999d443fe"
dependencies = [
"memchr",
- "serde",
]
[[package]]
@@ -2752,7 +2763,7 @@ checksum = "3779b94aeb87e8bd4e834cee3650289ee9e0d5677f976ecdb6d219e5f4f6cd94"
dependencies = [
"rand_chacha 0.9.0",
"rand_core 0.9.3",
- "zerocopy 0.8.21",
+ "zerocopy 0.8.23",
]
[[package]]
@@ -2976,7 +2987,7 @@ dependencies = [
"egui_plot",
"egui_tiles",
"enum_dispatch",
- "mavlink-bindgen",
+ "mavlink-bindgen 0.14.0",
"profiling",
"rand 0.9.0",
"ring-channel",
@@ -3025,9 +3036,9 @@ dependencies = [
[[package]]
name = "serde_json"
-version = "1.0.139"
+version = "1.0.140"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44f86c3acccc9c65b153fe1b85a3be07fe5515274ec9f0653b4a0875731c72a6"
+checksum = "20068b6e96dc6c9bd23e01df8827e6c7e1f2fddd43c21810382803c136b99373"
dependencies = [
"itoa",
"memchr",
@@ -3150,11 +3161,10 @@ 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"
+version = "0.1.1"
dependencies = [
"bitflags 2.9.0",
- "mavlink-bindgen",
+ "mavlink-bindgen 0.14.0 (git+https://git.skywarder.eu/avn/swd/mavlink/rust-mavlink.git?rev=b7446436b3c96ca4c40d28b54eeed346e7bf021e)",
"mavlink-core",
"num-derive",
"num-traits",
@@ -4696,11 +4706,11 @@ dependencies = [
[[package]]
name = "zerocopy"
-version = "0.8.21"
+version = "0.8.23"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dcf01143b2dd5d134f11f545cf9f1431b13b749695cb33bcce051e7568f99478"
+checksum = "fd97444d05a4328b90e75e503a34bad781f14e28a823ad3557f0750df1ebcbc6"
dependencies = [
- "zerocopy-derive 0.8.21",
+ "zerocopy-derive 0.8.23",
]
[[package]]
@@ -4716,9 +4726,9 @@ dependencies = [
[[package]]
name = "zerocopy-derive"
-version = "0.8.21"
+version = "0.8.23"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "712c8386f4f4299382c9abee219bee7084f78fb939d88b6840fcc1320d5f6da2"
+checksum = "6352c01d0edd5db859a63e2605f4ea3183ddbd15e2c4a9e7d32184df75e4f154"
dependencies = [
"proc-macro2",
"quote",
diff --git a/Cargo.toml b/Cargo.toml
index 03ca628..f6be7f4 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -18,12 +18,20 @@ egui_file = "0.22"
# =========== Asynchronous ===========
tokio = { version = "1.41", features = ["rt-multi-thread", "net", "sync"] }
# =========== Mavlink ===========
-skyward_mavlink = { git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git", branch = "rust-strum", features = [
+# skyward_mavlink = { git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git", branch = "rust-strum", features = [
+# "reflection",
+# "orion",
+# "serde",
+# ] }
+skyward_mavlink = { path = "../mavlink-skyward-lib/mavlink_rust", features = [
"reflection",
"orion",
"serde",
] }
-mavlink-bindgen = { version = "0.13.1", features = ["serde"] }
+# mavlink-bindgen = { version = "0.14", features = ["serde"] }
+mavlink-bindgen = { path = "../rust-mavlink/mavlink-bindgen", features = [
+ "serde",
+] }
serialport = "4.7.0"
# ========= Persistency =========
serde = { version = "1.0", features = ["derive"] }
diff --git a/src/communication/error.rs b/src/communication/error.rs
index 42b0f1c..d688e86 100644
--- a/src/communication/error.rs
+++ b/src/communication/error.rs
@@ -21,8 +21,6 @@ pub enum ConnectionError {
WrongConfiguration(String),
#[error("IO error: {0}")]
Io(#[from] std::io::Error),
- #[error("Unknown error")]
- Unknown(String),
}
impl From<MessageWriteError> for CommunicationError {
diff --git a/src/communication/ethernet.rs b/src/communication/ethernet.rs
index 629887c..00331ed 100644
--- a/src/communication/ethernet.rs
+++ b/src/communication/ethernet.rs
@@ -29,7 +29,7 @@ impl Connectable for EthernetConfiguration {
#[profiling::function]
fn connect(&self) -> Result<Self::Connected, ConnectionError> {
let incoming_addr = format!("udpin:0.0.0.0:{}", self.port);
- let outgoing_addr = format!("udpbcast:255.255.255.255:{}", self.port);
+ let outgoing_addr = format!("udpcast:255.255.255.255:{}", self.port);
let mut incoming_conn: BoxedConnection = mavlink::connect(&incoming_addr)?;
let mut outgoing_conn: BoxedConnection = mavlink::connect(&outgoing_addr)?;
incoming_conn.set_protocol_version(MavlinkVersion::V1);
diff --git a/src/main.rs b/src/main.rs
index 9093f87..87495b9 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -15,7 +15,7 @@ use tokio::runtime::Runtime;
use tracing_subscriber::{EnvFilter, Layer, layer::SubscriberExt, util::SubscriberInitExt};
use error::ErrInstrument;
-use mavlink::ReflectionContext;
+use mavlink::reflection::ReflectionContext;
use ui::App;
/// ReflectionContext singleton, used to get access to the Mavlink message definitions
diff --git a/src/mavlink.rs b/src/mavlink.rs
index 9119346..f1517cc 100644
--- a/src/mavlink.rs
+++ b/src/mavlink.rs
@@ -3,13 +3,35 @@
//! It serves also as an abstraction wrapper around the `skyward_mavlink` crate, facilitating
//! rapid switching between different mavlink versions and profiles (_dialects_).
-mod base;
mod error;
-mod reflection;
+pub mod reflection;
-// Export all the types from the base module as if they were defined in this module
-pub use base::*;
-pub use reflection::ReflectionContext;
+use std::time::Instant;
+
+// Re-export from the mavlink crate
+pub use skyward_mavlink::{
+ mavlink::*, orion::*,
+ reflection::ORION_MAVLINK_PROFILE_SERIALIZED as MAVLINK_PROFILE_SERIALIZED,
+};
/// Default port for the Ethernet connection
pub const DEFAULT_ETHERNET_PORT: u16 = 42069;
+
+/// 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 {
+ /// Create a new `TimedMessage` instance with the given message and the current time
+ pub fn just_received(message: MavMessage) -> Self {
+ Self {
+ message,
+ time: Instant::now(),
+ }
+ }
+}
diff --git a/src/mavlink/base.rs b/src/mavlink/base.rs
deleted file mode 100644
index fb64c4c..0000000
--- a/src/mavlink/base.rs
+++ /dev/null
@@ -1,60 +0,0 @@
-//! Wrapper around the `skyward_mavlink` crate
-//!
-//! This 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;
-
-// Re-export from the mavlink crate
-pub use skyward_mavlink::{
- mavlink::*, orion::*,
- reflection::ORION_MAVLINK_PROFILE_SERIALIZED as MAVLINK_PROFILE_SERIALIZED,
-};
-
-use crate::error::ErrInstrument;
-
-use super::error::{MavlinkError, Result};
-
-/// 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 {
- /// Create a new `TimedMessage` instance with the given message and the current time
- pub fn just_received(message: MavMessage) -> Self {
- Self {
- message,
- time: Instant::now(),
- }
- }
-}
-
-/// Extract fields from a MavLink message using string keys
-#[profiling::function]
-pub fn extract_from_message<K, T>(
- message: &MavMessage,
- fields: impl IntoIterator<Item = K>,
-) -> Result<Vec<T>>
-where
- K: AsRef<str>,
- T: serde::de::DeserializeOwned + Default,
-{
- let value: serde_json::Value =
- serde_json::to_value(message).log_expect("MavMessage should be serializable");
- Ok(fields
- .into_iter()
- .flat_map(|field| {
- let field = field.as_ref();
- let value = value
- .get(field)
- .ok_or(MavlinkError::UnknownField(field.to_string()))?;
- serde_json::from_value::<T>(value.clone()).map_err(MavlinkError::from)
- })
- .collect())
-}
diff --git a/src/mavlink/reflection.rs b/src/mavlink/reflection.rs
index 528ffde..8f81521 100644
--- a/src/mavlink/reflection.rs
+++ b/src/mavlink/reflection.rs
@@ -6,19 +6,20 @@
use std::collections::HashMap;
-use anyhow::anyhow;
use mavlink_bindgen::parser::{MavProfile, MavType};
use crate::error::ErrInstrument;
use super::MAVLINK_PROFILE_SERIALIZED;
+pub use mavlink_bindgen::parser::{MavField, MavMessage};
+
/// Reflection context for MAVLink messages.
///
/// This struct provides methods to query information about MAVLink messages and their fields.
pub struct ReflectionContext {
mavlink_profile: MavProfile,
- id_name_map: HashMap<u32, String>,
+ id_msg_map: HashMap<u32, MavMessage>,
}
impl ReflectionContext {
@@ -26,57 +27,56 @@ impl ReflectionContext {
pub fn new() -> Self {
let profile: MavProfile = serde_json::from_str(MAVLINK_PROFILE_SERIALIZED)
.log_expect("Failed to deserialize MavProfile");
- let id_name_map = profile
+ let id_msg_map = profile
.messages
- .iter()
- .map(|(name, m)| (m.id, name.clone()))
+ .values()
+ .map(|m| (m.id, m.clone()))
.collect();
Self {
mavlink_profile: profile,
- id_name_map,
+ id_msg_map,
}
}
/// Get the name of a message by its ID.
- 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 get_msg(&self, msg: impl MessageLike) -> Option<&MavMessage> {
+ msg.to_mav_message(self).ok()
}
- /// Get all message names in a sorted vector.
- 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
+ /// Get all field names for a message by its ID.
+ pub fn get_fields(&self, message_id: impl MessageLike) -> Option<Vec<IndexedField<'_>>> {
+ message_id.to_mav_message(self).ok().map(|msg| {
+ msg.fields
+ .iter()
+ .enumerate()
+ .map(|(i, f)| IndexedField {
+ id: i,
+ msg,
+ field: f,
+ })
+ .collect()
+ })
}
- /// Get all field names for a message by its ID.
- pub fn get_fields_by_id(&self, message_id: u32) -> anyhow::Result<Vec<&str>> {
- Ok(self
+ /// Get all message names in a sorted vector.
+ pub fn get_sorted_msgs(&self) -> Vec<&MavMessage> {
+ let mut msgs: Vec<(&str, &MavMessage)> = self
.mavlink_profile
.messages
.iter()
- .find(|(_, m)| m.id == message_id)
- .map(|(_, m)| &m.fields)
- .ok_or(anyhow!("Message ID {} not found in profile", message_id))?
- .iter()
- .map(|f| f.name.as_str())
- .collect())
+ .map(|(k, m)| (k.as_str(), m))
+ .collect();
+ msgs.sort_by_cached_key(|(k, _)| *k);
+ msgs.into_iter().map(|(_, m)| m).collect()
}
/// Get all plottable field names for a message by its ID.
- pub fn get_plottable_fields_by_id(&self, message_id: u32) -> anyhow::Result<Vec<&str>> {
- Ok(self
- .mavlink_profile
- .messages
- .iter()
- .find(|(_, m)| m.id == message_id)
- .map(|(_, m)| &m.fields)
- .ok_or(anyhow!("Message ID {} not found in profile", message_id))?
+ pub fn get_plottable_fields(
+ &self,
+ message_id: impl MessageLike,
+ ) -> Option<Vec<IndexedField<'_>>> {
+ let msg = message_id.to_mav_message(self).ok()?;
+ msg.fields
.iter()
.filter(|f| {
matches!(
@@ -93,21 +93,152 @@ impl ReflectionContext {
| MavType::Double
)
})
- .map(|f| f.name.as_str())
- .collect())
+ .map(|f| f.to_mav_field(msg.id, self).ok())
+ .collect()
}
+}
- /// Get all field names for a message by its name.
- pub fn get_fields_by_name(&self, message_name: &str) -> anyhow::Result<Vec<&str>> {
- Ok(self
- .mavlink_profile
+#[derive(Clone)]
+pub struct IndexedField<'a> {
+ id: usize,
+ msg: &'a MavMessage,
+ field: &'a MavField,
+}
+
+impl<'a> IndexedField<'a> {
+ pub fn msg(&self) -> &MavMessage {
+ self.msg
+ }
+
+ pub fn msg_id(&self) -> u32 {
+ self.msg.id
+ }
+
+ pub fn id(&self) -> usize {
+ self.id
+ }
+
+ pub fn field(&self) -> &MavField {
+ self.field
+ }
+
+ pub fn name(&self) -> &str {
+ &self.field.name
+ }
+}
+
+pub trait MessageLike {
+ fn to_mav_message<'a, 'b>(
+ &'a self,
+ ctx: &'b ReflectionContext,
+ ) -> Result<&'b MavMessage, String>;
+}
+
+pub trait FieldLike<'a, 'b> {
+ fn to_mav_field(
+ &'a self,
+ msg_id: u32,
+ ctx: &'b ReflectionContext,
+ ) -> Result<IndexedField<'b>, String>;
+}
+
+impl MessageLike for u32 {
+ fn to_mav_message<'a, 'b>(
+ &'a self,
+ ctx: &'b ReflectionContext,
+ ) -> Result<&'b MavMessage, String> {
+ ctx.id_msg_map
+ .get(self)
+ .ok_or_else(|| format!("Message {} not found", self))
+ }
+}
+
+impl MessageLike for &str {
+ fn to_mav_message<'a, 'b>(
+ &'a self,
+ ctx: &'b ReflectionContext,
+ ) -> Result<&'b MavMessage, String> {
+ ctx.mavlink_profile
.messages
.iter()
- .find(|(_, m)| m.name == message_name)
- .map(|(_, m)| &m.fields)
- .ok_or(anyhow!("Message {} not found in profile", message_name))?
- .iter()
- .map(|f| f.name.as_str())
- .collect())
+ .find(|(_, m)| m.name == *self)
+ .map(|(_, m)| m)
+ .ok_or_else(|| format!("Message {} not found", self))
+ }
+}
+
+impl<'b> FieldLike<'_, 'b> for &MavField {
+ fn to_mav_field(
+ &self,
+ msg_id: u32,
+ ctx: &'b ReflectionContext,
+ ) -> Result<IndexedField<'b>, String> {
+ ctx.id_msg_map
+ .get(&msg_id)
+ .and_then(|msg| {
+ msg.fields
+ .iter()
+ .enumerate()
+ .find(|(_, f)| f == self)
+ .map(|(i, f)| IndexedField {
+ id: i,
+ msg,
+ field: f,
+ })
+ })
+ .ok_or_else(|| format!("Field {} not found in message {}", self.name, msg_id))
+ }
+}
+
+impl<'b> FieldLike<'b, 'b> for IndexedField<'b> {
+ fn to_mav_field(
+ &self,
+ _msg_id: u32,
+ _ctx: &ReflectionContext,
+ ) -> Result<IndexedField<'_>, String> {
+ Ok(IndexedField {
+ id: self.id,
+ msg: self.msg,
+ field: self.field,
+ })
+ }
+}
+impl<'b> FieldLike<'_, 'b> for usize {
+ fn to_mav_field(
+ &self,
+ msg_id: u32,
+ ctx: &'b ReflectionContext,
+ ) -> Result<IndexedField<'b>, String> {
+ ctx.id_msg_map
+ .get(&msg_id)
+ .and_then(|msg| {
+ msg.fields.get(*self).map(|f| IndexedField {
+ id: *self,
+ msg,
+ field: f,
+ })
+ })
+ .ok_or_else(|| format!("Field {} not found in message {}", self, msg_id))
+ }
+}
+impl<'b> FieldLike<'_, 'b> for &str {
+ fn to_mav_field(
+ &self,
+ msg_id: u32,
+ ctx: &'b ReflectionContext,
+ ) -> Result<IndexedField<'b>, String> {
+ ctx.id_msg_map
+ .get(&msg_id)
+ .and_then(|msg| {
+ msg.fields
+ .iter()
+ .find(|f| f.name == *self)
+ .map(|f| IndexedField {
+ id: msg.fields.iter().position(|f2| f2 == f).unwrap(),
+ msg,
+ field: f,
+ })
+ })
+ .ok_or_else(|| format!("Field {} not found in message {}", self, msg_id))
}
}
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
index e83bd2f..a2a48b2 100644
--- a/src/ui/panes/plot.rs
+++ b/src/ui/panes/plot.rs
@@ -2,38 +2,40 @@ mod source_window;
use super::PaneBehavior;
use crate::{
+ MAVLINK_PROFILE,
error::ErrInstrument,
- mavlink::{MessageData, ROCKET_FLIGHT_TM_DATA, TimedMessage, extract_from_message},
+ mavlink::{
+ Message, MessageData, ROCKET_FLIGHT_TM_DATA, TimedMessage,
+ reflection::{self, FieldLike},
+ },
ui::app::PaneResponse,
};
use egui::{Color32, Vec2b};
-use egui_plot::{Legend, Line, PlotPoints};
+use egui_plot::{Legend, Line, PlotPoint, PlotPoints};
use egui_tiles::TileId;
+use mavlink_bindgen::parser::MavType;
use serde::{Deserialize, Serialize};
-use source_window::{SourceSettings, sources_window};
-use std::iter::zip;
+use source_window::{ChangeTracker, sources_window};
+use std::{hash::Hash, iter::zip};
#[derive(Clone, Default, Debug, Serialize, Deserialize)]
pub struct Plot2DPane {
+ settings: PlotSettings,
// UI settings
#[serde(skip)]
- pub contains_pointer: bool,
+ line_data: Vec<Vec<PlotPoint>>,
#[serde(skip)]
- settings_visible: bool,
-
- line_settings: Vec<LineSettings>,
+ state_valid: bool,
+ // UI settings
#[serde(skip)]
- line_data: Vec<Vec<[f64; 2]>>,
-
- settings: MsgSources,
-
+ settings_visible: bool,
#[serde(skip)]
- state_valid: bool,
+ pub contains_pointer: bool,
}
impl PartialEq for Plot2DPane {
fn eq(&self, other: &Self) -> bool {
- self.settings == other.settings && self.line_settings == other.line_settings
+ self.settings == other.settings
}
}
@@ -44,6 +46,7 @@ impl PaneBehavior for Plot2DPane {
let ctrl_pressed = ui.input(|i| i.modifiers.ctrl);
+ // plot last 100 messages
egui_plot::Plot::new("plot")
.auto_bounds(Vec2b::TRUE)
.legend(Legend::default())
@@ -54,13 +57,15 @@ impl PaneBehavior for Plot2DPane {
response.set_drag_started();
}
- for (settings, points) in zip(&self.line_settings, &mut self.line_data) {
+ for ((field, settings), points) in zip(self.settings.plot_lines(), &self.line_data)
+ {
plot_ui.line(
- // TODO: remove clone when PlotPoints supports borrowing
- Line::new(PlotPoints::from(points.clone()))
- .color(settings.color)
- .width(settings.width)
- .name(&settings.field),
+ Line::new(PlotPoints::from(
+ &points[points.len().saturating_sub(100)..],
+ ))
+ .color(settings.color)
+ .width(settings.width)
+ .name(&field.field.name),
);
}
plot_ui
@@ -68,16 +73,16 @@ impl PaneBehavior for Plot2DPane {
.context_menu(|ui| show_menu(ui, &mut self.settings_visible));
});
- let mut settings = SourceSettings::new(&mut self.settings, &mut self.line_settings);
+ let settings_hash = ChangeTracker::record_initial_state(&self.settings);
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(&mut self.settings_visible)
- .show(ui.ctx(), |ui| sources_window(ui, &mut settings));
+ .show(ui.ctx(), |ui| sources_window(ui, &mut self.settings));
- if settings.are_sources_changed() {
+ if settings_hash.has_changed(&self.settings) {
self.state_valid = false;
}
@@ -94,23 +99,26 @@ impl PaneBehavior for Plot2DPane {
self.line_data.clear();
}
- let MsgSources {
+ let PlotSettings {
x_field, y_fields, ..
} = &self.settings;
for msg in messages {
- let x: f64 = extract_from_message(&msg.message, [x_field]).log_unwrap()[0];
- let ys: Vec<f64> = extract_from_message(&msg.message, y_fields).log_unwrap();
+ let x: f64 = x_field.extract_from_message(&msg.message).log_unwrap();
+ let ys: Vec<f64> = y_fields
+ .iter()
+ .map(|(field, _)| field.extract_from_message(&msg.message).log_unwrap())
+ .collect();
if self.line_data.len() < ys.len() {
self.line_data.resize(ys.len(), Vec::new());
}
for (line, y) in zip(&mut self.line_data, ys) {
- let point = if x_field == "timestamp" {
- [x / 1e6, y]
+ let point = if x_field.field.name == "timestamp" {
+ PlotPoint::new(x / 1e6, y)
} else {
- [x, y]
+ PlotPoint::new(x, y)
};
line.push(point);
@@ -121,7 +129,7 @@ impl PaneBehavior for Plot2DPane {
}
fn get_message_subscription(&self) -> Option<u32> {
- Some(self.settings.msg_id)
+ Some(self.settings.plot_message_id)
}
fn should_send_message_history(&self) -> bool {
@@ -129,34 +137,111 @@ impl PaneBehavior for Plot2DPane {
}
}
-#[derive(Clone, Debug, Serialize, Deserialize)]
-struct MsgSources {
- msg_id: u32,
- x_field: String,
- y_fields: Vec<String>,
+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();
+ }
}
-impl Default for MsgSources {
+#[derive(Clone, Debug, Serialize, Deserialize, PartialEq)]
+struct PlotSettings {
+ plot_message_id: u32,
+ x_field: FieldWithID,
+ y_fields: Vec<(FieldWithID, LineSettings)>,
+}
+
+impl PlotSettings {
+ fn plot_lines(&self) -> &[(FieldWithID, LineSettings)] {
+ &self.y_fields
+ }
+
+ fn fields_empty(&self) -> bool {
+ self.y_fields.is_empty()
+ }
+
+ fn get_msg_id(&self) -> u32 {
+ self.plot_message_id
+ }
+
+ fn get_x_field(&self) -> &FieldWithID {
+ &self.x_field
+ }
+
+ fn get_y_fields(&self) -> Vec<&FieldWithID> {
+ self.y_fields.iter().map(|(field, _)| field).collect()
+ }
+
+ // fn get_mut_msg_id(&mut self) -> &mut u32 {
+ // &mut self.msg_sources.plot_message_id
+ // }
+
+ fn get_mut_x_field(&mut self) -> &mut FieldWithID {
+ &mut self.x_field
+ }
+
+ fn get_mut_y_fields(&mut self) -> &mut [(FieldWithID, LineSettings)] {
+ &mut self.y_fields[..]
+ }
+
+ fn set_x_field(&mut self, field: FieldWithID) {
+ self.x_field = field;
+ }
+
+ fn fields_len(&self) -> usize {
+ self.y_fields.len()
+ }
+
+ // fn is_msg_id_changed(&self) -> bool {
+ // self.msg_sources.plot_message_id != self.old_msg_sources.plot_message_id
+ // }
+
+ fn contains_field(&self, field: &FieldWithID) -> bool {
+ self.y_fields.iter().any(|(f, _)| f == field)
+ }
+
+ fn add_field(&mut self, field: FieldWithID) {
+ let line_settings = LineSettings::default();
+ self.y_fields.push((field, line_settings));
+ }
+
+ fn clear_fields(&mut self) {
+ self.x_field = 0
+ .to_mav_field(self.plot_message_id, &MAVLINK_PROFILE)
+ .log_unwrap()
+ .into();
+ self.y_fields.clear();
+ }
+}
+
+impl Default for PlotSettings {
fn default() -> Self {
+ let msg_id = ROCKET_FLIGHT_TM_DATA::ID;
+ let x_field = FieldWithID::new(msg_id, 0).log_unwrap();
+ let y_fields = vec![(
+ FieldWithID::new(msg_id, 1).log_unwrap(),
+ LineSettings::default(),
+ )];
Self {
- msg_id: ROCKET_FLIGHT_TM_DATA::ID,
- x_field: "timestamp".to_owned(),
- y_fields: Vec::new(),
+ plot_message_id: msg_id,
+ x_field,
+ y_fields,
}
}
}
-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
+impl Hash for PlotSettings {
+ fn hash<H: std::hash::Hasher>(&self, state: &mut H) {
+ self.plot_message_id.hash(state);
+ self.x_field.hash(state);
+ self.y_fields.hash(state);
}
}
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
struct LineSettings {
- field: String,
width: f32,
color: Color32,
}
@@ -164,27 +249,84 @@ struct LineSettings {
impl Default for LineSettings {
fn default() -> Self {
Self {
- field: "".to_owned(),
width: 1.0,
color: Color32::BLUE,
}
}
}
+impl Hash for LineSettings {
+ fn hash<H: std::hash::Hasher>(&self, state: &mut H) {
+ self.width.to_bits().hash(state);
+ self.color.hash(state);
+ }
+}
+
impl LineSettings {
- fn new(field_y: String) -> Self {
- Self {
- field: field_y,
- ..Default::default()
+ fn new(width: f32, color: Color32) -> Self {
+ Self { width, color }
+ }
+}
+
+/// A struct to hold a field and its ID in a message
+/// We use this and not `reflection::IndexedField` because we need to serialize it
+#[derive(Clone, Debug, Serialize, Deserialize, PartialEq)]
+struct FieldWithID {
+ id: usize,
+ field: reflection::MavField,
+}
+
+impl FieldWithID {
+ fn new(msg_id: u32, field_id: usize) -> Option<Self> {
+ Some(Self {
+ id: field_id,
+ field: field_id
+ .to_mav_field(msg_id, &MAVLINK_PROFILE)
+ .ok()?
+ .field()
+ .clone(),
+ })
+ }
+
+ fn extract_from_message(&self, message: &impl Message) -> Result<f64, String> {
+ macro_rules! downcast {
+ ($value: expr, $type: ty) => {
+ Ok(*$value
+ .downcast::<$type>()
+ .map_err(|_| "Type mismatch".to_string())? as f64)
+ };
+ }
+
+ let value = message
+ .get_field(self.id)
+ .ok_or("Field not found".to_string())?;
+ match self.field.mavtype {
+ MavType::UInt8 => downcast!(value, u8),
+ MavType::UInt16 => downcast!(value, u16),
+ MavType::UInt32 => downcast!(value, u32),
+ MavType::UInt64 => downcast!(value, u64),
+ MavType::Int8 => downcast!(value, i8),
+ MavType::Int16 => downcast!(value, i16),
+ MavType::Int32 => downcast!(value, i32),
+ MavType::Int64 => downcast!(value, i64),
+ MavType::Float => downcast!(value, f32),
+ MavType::Double => downcast!(value, f64),
+ _ => Err("Field type not supported".to_string()),
}
}
}
-fn show_menu(ui: &mut egui::Ui, settings_visible: &mut bool) {
- ui.set_max_width(200.0); // To make sure we wrap long text
+impl Hash for FieldWithID {
+ fn hash<H: std::hash::Hasher>(&self, state: &mut H) {
+ self.id.hash(state);
+ }
+}
- if ui.button("Settings…").clicked() {
- *settings_visible = true;
- ui.close_menu();
+impl From<reflection::IndexedField<'_>> for FieldWithID {
+ fn from(indexed_field: reflection::IndexedField<'_>) -> Self {
+ Self {
+ id: indexed_field.id(),
+ field: indexed_field.field().clone(),
+ }
}
}
diff --git a/src/ui/panes/plot/source_window.rs b/src/ui/panes/plot/source_window.rs
index f6def54..b4dca59 100644
--- a/src/ui/panes/plot/source_window.rs
+++ b/src/ui/panes/plot/source_window.rs
@@ -1,47 +1,52 @@
-use crate::{
- MAVLINK_PROFILE,
- mavlink::{MavMessage, Message},
+use std::{
+ collections::hash_map::DefaultHasher,
+ hash::{Hash, Hasher},
};
+use crate::{MAVLINK_PROFILE, ui::panes::plot::FieldWithID};
+
use crate::error::ErrInstrument;
-use super::{LineSettings, MsgSources};
+use super::{LineSettings, PlotSettings};
#[profiling::function]
-pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut SourceSettings) {
+pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
+ let settings_hash = ChangeTracker::record_initial_state(&plot_settings);
+
// 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())
+ .get_msg(plot_settings.plot_message_id)
+ .map(|m| m.name.clone())
.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).log_expect("Invalid message name"),
- msg,
- );
+ for msg in MAVLINK_PROFILE.get_sorted_msgs() {
+ ui.selectable_value(&mut plot_settings.plot_message_id, msg.id, &msg.name);
}
});
// reset fields if the message is changed
- if plot_settings.is_msg_id_changed() {
+ if settings_hash.has_changed(plot_settings) {
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())
- .log_expect("Invalid message id");
+ let fields: Vec<FieldWithID> = MAVLINK_PROFILE
+ .get_plottable_fields(plot_settings.get_msg_id())
+ .log_expect("Invalid message id")
+ .into_iter()
+ .map(|f| f.into())
+ .collect::<Vec<_>>();
// 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)
+ .iter()
+ .any(|f| f == x_field)
.then(|| x_field.to_owned())
- .or(fields.first().map(|s| s.to_string()));
+ .or(fields.first().map(|s| s.to_owned()));
// if there are no fields, reset the field_x and plot_lines
let Some(new_field_x) = new_field_x else {
@@ -54,16 +59,16 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut SourceSettings) {
// if fields are valid, show the combo boxes for the x_axis
egui::ComboBox::from_label("X Axis")
- .selected_text(x_field.as_str())
+ .selected_text(&x_field.field.name)
.show_ui(ui, |ui| {
for msg in fields.iter() {
- ui.selectable_value(x_field, (*msg).to_owned(), *msg);
+ ui.selectable_value(x_field, msg.to_owned(), &msg.field.name);
}
});
// 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());
+ plot_settings.add_field(fields[1].to_owned());
}
// check how many fields are left and how many are selected
@@ -72,22 +77,20 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut SourceSettings) {
.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;
+ for (i, (field, line_settings)) in
+ plot_settings.get_mut_y_fields().into_iter().enumerate()
+ {
+ let LineSettings { 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())
+ .selected_text(&field.field.name)
.show_ui(ui, |ui| {
for msg in fields.iter() {
- ui.selectable_value(field, (*msg).to_owned(), *msg);
+ ui.selectable_value(field, msg.to_owned(), &msg.field.name);
}
});
ui.color_edit_button_srgba(color);
@@ -96,8 +99,6 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut SourceSettings) {
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
@@ -110,81 +111,101 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut SourceSettings) {
.iter()
.find(|f| !plot_settings.contains_field(f))
.log_unwrap();
- plot_settings.add_field(next_field.to_string());
+ plot_settings.add_field(next_field.to_owned());
}
}
-pub struct SourceSettings<'a> {
- msg_sources: &'a mut MsgSources,
- old_msg_sources: MsgSources,
- line_settings: &'a mut Vec<LineSettings>,
+pub struct ChangeTracker {
+ integrity_digest: u64,
}
-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
+impl ChangeTracker {
+ pub fn record_initial_state<T: Hash>(state: &T) -> Self {
+ let mut hasher = DefaultHasher::new();
+ state.hash(&mut hasher);
+ let integrity_digest = hasher.finish();
+ Self { integrity_digest }
}
- 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();
+ pub fn has_changed<T: Hash>(&self, state: &T) -> bool {
+ let mut hasher = DefaultHasher::new();
+ state.hash(&mut hasher);
+ self.integrity_digest != hasher.finish()
}
}
+
+// pub struct SourceSettings<'a> {
+// msg_sources: &'a mut PlotSettings,
+// }
+
+// impl<'a> SourceSettings<'a> {
+// pub fn new(
+// msg_sources: &'a mut PlotSettings,
+// 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_field_ids.is_empty()
+// }
+
+// fn get_msg_id(&self) -> u32 {
+// self.msg_sources.plot_message_id
+// }
+
+// fn get_x_field_id(&self) -> usize {
+// self.msg_sources.x_field_id
+// }
+
+// fn get_mut_msg_id(&mut self) -> &mut u32 {
+// &mut self.msg_sources.plot_message_id
+// }
+
+// fn get_mut_x_field_id(&mut self) -> &mut usize {
+// &mut self.msg_sources.x_field_id
+// }
+
+// fn set_x_field_id(&mut self, field_id: usize) {
+// self.msg_sources.x_field_id = field_id;
+// }
+
+// fn fields_len(&self) -> usize {
+// self.msg_sources.y_field_ids.len()
+// }
+
+// fn is_msg_id_changed(&self) -> bool {
+// self.msg_sources.plot_message_id != self.old_msg_sources.plot_message_id
+// }
+
+// fn contains_field(&self, field_id: usize) -> bool {
+// self.msg_sources.y_field_ids.contains(&field_id)
+// }
+
+// fn sync_fields_with_lines(&mut self) {
+// self.msg_sources.y_field_ids = self
+// .line_settings
+// .iter()
+// .map(|ls| ls.field_id.clone())
+// .collect();
+// }
+
+// fn add_field(&mut self, field_id: usize) {
+// self.line_settings.push(LineSettings::new(field_id));
+// self.msg_sources.y_field_ids.push(field_id);
+// }
+
+// fn clear_fields(&mut self) {
+// self.msg_sources.y_field_ids.clear();
+// self.line_settings.clear();
+// self.msg_sources.x_field_id = 0;
+// }
+// }
--
GitLab
From ca3733d89a6aa07e29ebc9c0b08022aabb5ae9bf Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sat, 8 Mar 2025 17:31:05 +0100
Subject: [PATCH 2/8] removed commented code, moved and documented
ChangeTracker
---
src/mavlink/error.rs | 4 --
src/mavlink/reflection.rs | 4 +-
src/ui/cache.rs | 72 +++++++++++++++++++-
src/ui/panes/plot.rs | 22 +-----
src/ui/panes/plot/source_window.rs | 105 ++---------------------------
5 files changed, 79 insertions(+), 128 deletions(-)
diff --git a/src/mavlink/error.rs b/src/mavlink/error.rs
index 23975eb..b0aca6e 100644
--- a/src/mavlink/error.rs
+++ b/src/mavlink/error.rs
@@ -1,11 +1,7 @@
use thiserror::Error;
-pub type Result<T> = std::result::Result<T, MavlinkError>;
-
#[derive(Debug, Error)]
pub enum MavlinkError {
- #[error("Error parsing field: {0}")]
- UnknownField(String),
#[error("Error parsing message: {0}")]
ParseError(#[from] serde_json::Error),
}
diff --git a/src/mavlink/reflection.rs b/src/mavlink/reflection.rs
index 8f81521..68937c6 100644
--- a/src/mavlink/reflection.rs
+++ b/src/mavlink/reflection.rs
@@ -105,7 +105,7 @@ pub struct IndexedField<'a> {
field: &'a MavField,
}
-impl<'a> IndexedField<'a> {
+impl IndexedField<'_> {
pub fn msg(&self) -> &MavMessage {
self.msg
}
@@ -234,7 +234,7 @@ impl<'b> FieldLike<'_, 'b> for &str {
.iter()
.find(|f| f.name == *self)
.map(|f| IndexedField {
- id: msg.fields.iter().position(|f2| f2 == f).unwrap(),
+ id: msg.fields.iter().position(|f2| f2 == f).log_unwrap(),
msg,
field: f,
})
diff --git a/src/ui/cache.rs b/src/ui/cache.rs
index 46b29cc..23d894d 100644
--- a/src/ui/cache.rs
+++ b/src/ui/cache.rs
@@ -1,7 +1,11 @@
//! Module for caching expensive UI calls using egui's temporary memory storage.
//! It provides utilities for caching the results of functions to avoid frequent recalculations.
-use std::time::{Duration, Instant};
+use std::{
+ collections::hash_map::DefaultHasher,
+ hash::{Hash, Hasher},
+ time::{Duration, Instant},
+};
use egui::Context;
use serialport::SerialPortInfo;
@@ -90,3 +94,69 @@ pub fn cached_first_stm32_port(ctx: &Context) -> Result<Option<SerialPortInfo>,
SERIAL_PORT_REFRESH_INTERVAL,
)
}
+
+/// ChangeTracker manages the tracking of state changes using an integrity digest.
+///
+/// The `integrity_digest` field holds a 64-bit unsigned integer that represents
+/// a summary (or hash) of the current state. This can be used to verify that the
+/// cached UI state remains consistent, and to quickly detect any modifications.
+pub struct ChangeTracker {
+ integrity_digest: u64,
+}
+
+impl ChangeTracker {
+ /// Records the initial state of a hashable value by computing its hash digest.
+ ///
+ /// This method takes a reference to any value that implements the `Hash` trait,
+ /// computes its hash using the default hasher, and stores the resulting digest in a
+ /// newly created `ChangeTracker` instance. This digest serves as a reference point
+ /// for future state comparisons.
+ ///
+ /// # Parameters
+ ///
+ /// - `state`: A reference to the value whose state is to be recorded.
+ ///
+ /// # Returns
+ ///
+ /// A `ChangeTracker` initialized with the computed hash digest.
+ ///
+ /// # Examples
+ ///
+ /// ```
+ /// let initial_tracker = ChangeTracker::record_initial_state(&state);
+ /// ```
+ pub fn record_initial_state<T: Hash>(state: &T) -> Self {
+ let mut hasher = DefaultHasher::new();
+ state.hash(&mut hasher);
+ let integrity_digest = hasher.finish();
+ Self { integrity_digest }
+ }
+
+ /// Checks whether the hash of the current state differs from the initially recorded state.
+ ///
+ /// This method computes the hash digest of the current state (which must implement the
+ /// `Hash` trait) and compares it with the digest stored in the `ChangeTracker`. If the digests
+ /// differ, it indicates that the state has changed since the initial recording.
+ ///
+ /// # Parameters
+ ///
+ /// - `state`: A reference to the current state to be checked for changes.
+ ///
+ /// # Returns
+ ///
+ /// `true` if the current state's hash digest does not match the initially recorded digest,
+ /// indicating a change; `false` otherwise.
+ ///
+ /// # Examples
+ ///
+ /// ```
+ /// if tracker.has_changed(&state) {
+ /// println!("The state has changed.");
+ /// }
+ /// ```
+ 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/plot.rs b/src/ui/panes/plot.rs
index a2a48b2..7c2e27d 100644
--- a/src/ui/panes/plot.rs
+++ b/src/ui/panes/plot.rs
@@ -8,14 +8,14 @@ use crate::{
Message, MessageData, ROCKET_FLIGHT_TM_DATA, TimedMessage,
reflection::{self, FieldLike},
},
- ui::app::PaneResponse,
+ ui::{app::PaneResponse, cache::ChangeTracker},
};
use egui::{Color32, Vec2b};
use egui_plot::{Legend, Line, PlotPoint, PlotPoints};
use egui_tiles::TileId;
use mavlink_bindgen::parser::MavType;
use serde::{Deserialize, Serialize};
-use source_window::{ChangeTracker, sources_window};
+use source_window::sources_window;
use std::{hash::Hash, iter::zip};
#[derive(Clone, Default, Debug, Serialize, Deserialize)]
@@ -170,14 +170,6 @@ impl PlotSettings {
&self.x_field
}
- fn get_y_fields(&self) -> Vec<&FieldWithID> {
- self.y_fields.iter().map(|(field, _)| field).collect()
- }
-
- // fn get_mut_msg_id(&mut self) -> &mut u32 {
- // &mut self.msg_sources.plot_message_id
- // }
-
fn get_mut_x_field(&mut self) -> &mut FieldWithID {
&mut self.x_field
}
@@ -194,10 +186,6 @@ impl PlotSettings {
self.y_fields.len()
}
- // fn is_msg_id_changed(&self) -> bool {
- // self.msg_sources.plot_message_id != self.old_msg_sources.plot_message_id
- // }
-
fn contains_field(&self, field: &FieldWithID) -> bool {
self.y_fields.iter().any(|(f, _)| f == field)
}
@@ -262,12 +250,6 @@ impl Hash for LineSettings {
}
}
-impl LineSettings {
- fn new(width: f32, color: Color32) -> Self {
- Self { width, color }
- }
-}
-
/// A struct to hold a field and its ID in a message
/// We use this and not `reflection::IndexedField` because we need to serialize it
#[derive(Clone, Debug, Serialize, Deserialize, PartialEq)]
diff --git a/src/ui/panes/plot/source_window.rs b/src/ui/panes/plot/source_window.rs
index b4dca59..e49df73 100644
--- a/src/ui/panes/plot/source_window.rs
+++ b/src/ui/panes/plot/source_window.rs
@@ -1,10 +1,8 @@
-use std::{
- collections::hash_map::DefaultHasher,
- hash::{Hash, Hasher},
+use crate::{
+ MAVLINK_PROFILE,
+ ui::{cache::ChangeTracker, panes::plot::FieldWithID},
};
-use crate::{MAVLINK_PROFILE, ui::panes::plot::FieldWithID};
-
use crate::error::ErrInstrument;
use super::{LineSettings, PlotSettings};
@@ -78,7 +76,7 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
.spacing([10.0, 2.5])
.show(ui, |ui| {
for (i, (field, line_settings)) in
- plot_settings.get_mut_y_fields().into_iter().enumerate()
+ plot_settings.get_mut_y_fields().iter_mut().enumerate()
{
let LineSettings { width, color } = line_settings;
let widget_label = if plot_lines_len > 1 {
@@ -114,98 +112,3 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
plot_settings.add_field(next_field.to_owned());
}
}
-
-pub struct ChangeTracker {
- integrity_digest: u64,
-}
-
-impl ChangeTracker {
- pub fn record_initial_state<T: Hash>(state: &T) -> Self {
- let mut hasher = DefaultHasher::new();
- state.hash(&mut hasher);
- let integrity_digest = hasher.finish();
- Self { integrity_digest }
- }
-
- pub fn has_changed<T: Hash>(&self, state: &T) -> bool {
- let mut hasher = DefaultHasher::new();
- state.hash(&mut hasher);
- self.integrity_digest != hasher.finish()
- }
-}
-
-// pub struct SourceSettings<'a> {
-// msg_sources: &'a mut PlotSettings,
-// }
-
-// impl<'a> SourceSettings<'a> {
-// pub fn new(
-// msg_sources: &'a mut PlotSettings,
-// 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_field_ids.is_empty()
-// }
-
-// fn get_msg_id(&self) -> u32 {
-// self.msg_sources.plot_message_id
-// }
-
-// fn get_x_field_id(&self) -> usize {
-// self.msg_sources.x_field_id
-// }
-
-// fn get_mut_msg_id(&mut self) -> &mut u32 {
-// &mut self.msg_sources.plot_message_id
-// }
-
-// fn get_mut_x_field_id(&mut self) -> &mut usize {
-// &mut self.msg_sources.x_field_id
-// }
-
-// fn set_x_field_id(&mut self, field_id: usize) {
-// self.msg_sources.x_field_id = field_id;
-// }
-
-// fn fields_len(&self) -> usize {
-// self.msg_sources.y_field_ids.len()
-// }
-
-// fn is_msg_id_changed(&self) -> bool {
-// self.msg_sources.plot_message_id != self.old_msg_sources.plot_message_id
-// }
-
-// fn contains_field(&self, field_id: usize) -> bool {
-// self.msg_sources.y_field_ids.contains(&field_id)
-// }
-
-// fn sync_fields_with_lines(&mut self) {
-// self.msg_sources.y_field_ids = self
-// .line_settings
-// .iter()
-// .map(|ls| ls.field_id.clone())
-// .collect();
-// }
-
-// fn add_field(&mut self, field_id: usize) {
-// self.line_settings.push(LineSettings::new(field_id));
-// self.msg_sources.y_field_ids.push(field_id);
-// }
-
-// fn clear_fields(&mut self) {
-// self.msg_sources.y_field_ids.clear();
-// self.line_settings.clear();
-// self.msg_sources.x_field_id = 0;
-// }
-// }
--
GitLab
From 177eae3809b7c284b30734da6b9617b63ae0c569 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 9 Mar 2025 13:55:01 +0100
Subject: [PATCH 3/8] CHECKPOINT
---
Cargo.lock | 18 ++---------
Cargo.toml | 16 ++++------
src/communication/serial.rs | 34 +++++++++++++++++++++
src/mavlink/reflection.rs | 17 ++++-------
src/ui.rs | 2 +-
src/ui/cache.rs | 56 ++++++++++++++++-------------------
src/ui/panes/plot.rs | 2 +-
src/ui/windows/connections.rs | 7 +++--
8 files changed, 80 insertions(+), 72 deletions(-)
diff --git a/Cargo.lock b/Cargo.lock
index a36da14..1dea7a6 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2003,19 +2003,6 @@ dependencies = [
"regex-automata 0.1.10",
]
-[[package]]
-name = "mavlink-bindgen"
-version = "0.14.0"
-dependencies = [
- "crc-any",
- "lazy_static",
- "proc-macro2",
- "quick-xml 0.36.2",
- "quote",
- "serde",
- "thiserror 1.0.69",
-]
-
[[package]]
name = "mavlink-bindgen"
version = "0.14.0"
@@ -2987,7 +2974,7 @@ dependencies = [
"egui_plot",
"egui_tiles",
"enum_dispatch",
- "mavlink-bindgen 0.14.0",
+ "mavlink-bindgen",
"profiling",
"rand 0.9.0",
"ring-channel",
@@ -3162,9 +3149,10 @@ checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
[[package]]
name = "skyward_mavlink"
version = "0.1.1"
+source = "git+https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git?branch=rust-strum#8f0700acc0def0cdb2d2ae490e0703fd6c820643"
dependencies = [
"bitflags 2.9.0",
- "mavlink-bindgen 0.14.0 (git+https://git.skywarder.eu/avn/swd/mavlink/rust-mavlink.git?rev=b7446436b3c96ca4c40d28b54eeed346e7bf021e)",
+ "mavlink-bindgen",
"mavlink-core",
"num-derive",
"num-traits",
diff --git a/Cargo.toml b/Cargo.toml
index f6be7f4..d7507aa 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -18,20 +18,11 @@ egui_file = "0.22"
# =========== Asynchronous ===========
tokio = { version = "1.41", features = ["rt-multi-thread", "net", "sync"] }
# =========== Mavlink ===========
-# skyward_mavlink = { git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git", branch = "rust-strum", features = [
-# "reflection",
-# "orion",
-# "serde",
-# ] }
-skyward_mavlink = { path = "../mavlink-skyward-lib/mavlink_rust", features = [
+skyward_mavlink = { git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git", branch = "rust-strum", features = [
"reflection",
"orion",
"serde",
] }
-# mavlink-bindgen = { version = "0.14", features = ["serde"] }
-mavlink-bindgen = { path = "../rust-mavlink/mavlink-bindgen", features = [
- "serde",
-] }
serialport = "4.7.0"
# ========= Persistency =========
serde = { version = "1.0", features = ["derive"] }
@@ -51,5 +42,10 @@ anyhow = "1.0"
ring-channel = "0.12.0"
thiserror = "2.0.7"
+[dependencies.mavlink-bindgen]
+git = "https://git.skywarder.eu/avn/swd/mavlink/rust-mavlink.git"
+rev = "b7446436b3c96ca4c40d28b54eeed346e7bf021e"
+features = ["serde"]
+
[dev-dependencies]
rand = "0.9.0"
diff --git a/src/communication/serial.rs b/src/communication/serial.rs
index 8f1c6fa..b4d3897 100644
--- a/src/communication/serial.rs
+++ b/src/communication/serial.rs
@@ -51,6 +51,40 @@ pub fn find_first_stm32_port() -> Result<Option<SerialPortInfo>, serialport::Err
Ok(None)
}
+pub mod cached {
+ use egui::Context;
+
+ use crate::ui::cache::CacheCall;
+
+ use super::*;
+
+ /// Returns a cached list of all available USB ports.
+ ///
+ /// # Arguments
+ /// * `ctx` - The egui context used for caching.
+ ///
+ /// # Returns
+ /// * A Result containing a vector of `SerialPortInfo` or a `serialport::Error`.
+ pub fn cached_list_all_usb_ports(
+ ctx: &Context,
+ ) -> Result<Vec<SerialPortInfo>, serialport::Error> {
+ ctx.call_cached_short(&"list_usb_ports", list_all_usb_ports)
+ }
+
+ /// Returns the first cached STM32 port found, if any.
+ ///
+ /// # Arguments
+ /// * `ctx` - The egui context used for caching.
+ ///
+ /// # Returns
+ /// * A Result containing an Option of `SerialPortInfo` or a `serialport::Error`.
+ pub fn cached_first_stm32_port(
+ ctx: &Context,
+ ) -> Result<Option<SerialPortInfo>, serialport::Error> {
+ ctx.call_cached_short(&"find_first_stm32_port", find_first_stm32_port)
+ }
+}
+
/// Configuration for a serial connection.
#[derive(Debug, Clone)]
pub struct SerialConfiguration {
diff --git a/src/mavlink/reflection.rs b/src/mavlink/reflection.rs
index 68937c6..c9f8a7f 100644
--- a/src/mavlink/reflection.rs
+++ b/src/mavlink/reflection.rs
@@ -128,10 +128,7 @@ impl IndexedField<'_> {
}
pub trait MessageLike {
- fn to_mav_message<'a, 'b>(
- &'a self,
- ctx: &'b ReflectionContext,
- ) -> Result<&'b MavMessage, String>;
+ fn to_mav_message<'b>(&self, ctx: &'b ReflectionContext) -> Result<&'b MavMessage, String>;
}
pub trait FieldLike<'a, 'b> {
@@ -143,10 +140,7 @@ pub trait FieldLike<'a, 'b> {
}
impl MessageLike for u32 {
- fn to_mav_message<'a, 'b>(
- &'a self,
- ctx: &'b ReflectionContext,
- ) -> Result<&'b MavMessage, String> {
+ fn to_mav_message<'b>(&self, ctx: &'b ReflectionContext) -> Result<&'b MavMessage, String> {
ctx.id_msg_map
.get(self)
.ok_or_else(|| format!("Message {} not found", self))
@@ -154,10 +148,7 @@ impl MessageLike for u32 {
}
impl MessageLike for &str {
- fn to_mav_message<'a, 'b>(
- &'a self,
- ctx: &'b ReflectionContext,
- ) -> Result<&'b MavMessage, String> {
+ fn to_mav_message<'b>(&self, ctx: &'b ReflectionContext) -> Result<&'b MavMessage, String> {
ctx.mavlink_profile
.messages
.iter()
@@ -203,6 +194,7 @@ impl<'b> FieldLike<'b, 'b> for IndexedField<'b> {
})
}
}
+
impl<'b> FieldLike<'_, 'b> for usize {
fn to_mav_field(
&self,
@@ -221,6 +213,7 @@ impl<'b> FieldLike<'_, 'b> for usize {
.ok_or_else(|| format!("Field {} not found in message {}", self, msg_id))
}
}
+
impl<'b> FieldLike<'_, 'b> for &str {
fn to_mav_field(
&self,
diff --git a/src/ui.rs b/src/ui.rs
index 383fabd..077abdb 100644
--- a/src/ui.rs
+++ b/src/ui.rs
@@ -1,5 +1,5 @@
mod app;
-mod cache;
+pub mod cache;
mod panes;
mod persistency;
mod shortcuts;
diff --git a/src/ui/cache.rs b/src/ui/cache.rs
index 23d894d..9835924 100644
--- a/src/ui/cache.rs
+++ b/src/ui/cache.rs
@@ -13,6 +13,8 @@ use serialport::SerialPortInfo;
use crate::{communication, error::ErrInstrument};
const SERIAL_PORT_REFRESH_INTERVAL: Duration = Duration::from_millis(500);
+const SHORT_REFRESH_INTERVAL: Duration = Duration::from_millis(500);
+const INDEF_REFRESH_INTERVAL: Duration = Duration::MAX;
/// Internal helper function that caches the result of a given function call for a specified duration.
///
@@ -42,7 +44,9 @@ where
/// A trait to extend egui's Context with a caching function.
pub trait CacheCall {
- /// Calls the provided function and caches its result.
+ /// Calls the provided function and caches its result. Every time this
+ /// function is called, it will return the cached value if it is still
+ /// valid.
///
/// # Arguments
/// * `id` - A unique identifier for the cached value.
@@ -52,6 +56,26 @@ pub trait CacheCall {
where
F: Fn() -> T,
T: Clone + Send + Sync + 'static;
+
+ fn call_cached_short<F, T, H>(&self, hashable: &H, fun: F) -> T
+ where
+ F: Fn() -> T,
+ T: Clone + Send + Sync + 'static,
+ H: Hash,
+ {
+ let id = egui::Id::new(hashable);
+ self.call_cached(id, fun, SHORT_REFRESH_INTERVAL)
+ }
+
+ fn call_cached_indef<F, T, H>(&self, hashable: &H, fun: F) -> T
+ where
+ F: Fn() -> T,
+ T: Clone + Send + Sync + 'static,
+ H: Hash,
+ {
+ let id = egui::Id::new(hashable);
+ self.call_cached(id, fun, INDEF_REFRESH_INTERVAL)
+ }
}
impl CacheCall for egui::Context {
@@ -65,36 +89,6 @@ impl CacheCall for egui::Context {
}
}
-/// Returns a cached list of all available USB ports.
-///
-/// # Arguments
-/// * `ctx` - The egui context used for caching.
-///
-/// # Returns
-/// * A Result containing a vector of `SerialPortInfo` or a `serialport::Error`.
-pub fn cached_list_all_usb_ports(ctx: &Context) -> Result<Vec<SerialPortInfo>, serialport::Error> {
- ctx.call_cached(
- egui::Id::new("list_usb_ports"),
- communication::serial::list_all_usb_ports,
- SERIAL_PORT_REFRESH_INTERVAL,
- )
-}
-
-/// Returns the first cached STM32 port found, if any.
-///
-/// # Arguments
-/// * `ctx` - The egui context used for caching.
-///
-/// # Returns
-/// * A Result containing an Option of `SerialPortInfo` or a `serialport::Error`.
-pub fn cached_first_stm32_port(ctx: &Context) -> Result<Option<SerialPortInfo>, serialport::Error> {
- ctx.call_cached(
- egui::Id::new("list_usb_ports"),
- communication::serial::find_first_stm32_port,
- SERIAL_PORT_REFRESH_INTERVAL,
- )
-}
-
/// ChangeTracker manages the tracking of state changes using an integrity digest.
///
/// The `integrity_digest` field holds a 64-bit unsigned integer that represents
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
index 7c2e27d..9d9ad09 100644
--- a/src/ui/panes/plot.rs
+++ b/src/ui/panes/plot.rs
@@ -61,7 +61,7 @@ impl PaneBehavior for Plot2DPane {
{
plot_ui.line(
Line::new(PlotPoints::from(
- &points[points.len().saturating_sub(100)..],
+ &points[points.len().saturating_sub(100)..], // FIXME: don't show just the last 100 points
))
.color(settings.color)
.width(settings.width)
diff --git a/src/ui/windows/connections.rs b/src/ui/windows/connections.rs
index ebc34c3..30ffe5e 100644
--- a/src/ui/windows/connections.rs
+++ b/src/ui/windows/connections.rs
@@ -4,12 +4,15 @@ use tracing::{error, warn};
use crate::{
communication::{
- ConnectionError, EthernetConfiguration, SerialConfiguration, serial::DEFAULT_BAUD_RATE,
+ ConnectionError, EthernetConfiguration, SerialConfiguration,
+ serial::{
+ DEFAULT_BAUD_RATE,
+ cached::{cached_first_stm32_port, cached_list_all_usb_ports},
+ },
},
error::ErrInstrument,
mavlink::DEFAULT_ETHERNET_PORT,
message_broker::MessageBroker,
- ui::cache::{cached_first_stm32_port, cached_list_all_usb_ports},
};
#[derive(Default)]
--
GitLab
From 912530389576fc541e43d72592fecad366a67f64 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 9 Mar 2025 18:56:08 +0100
Subject: [PATCH 4/8] CHECKPOINT
---
src/mavlink/reflection.rs | 197 ++++++++++++++++++++++++-----
src/ui/cache.rs | 5 +-
src/ui/panes/plot.rs | 138 +++++++++-----------
src/ui/panes/plot/source_window.rs | 20 +--
4 files changed, 238 insertions(+), 122 deletions(-)
diff --git a/src/mavlink/reflection.rs b/src/mavlink/reflection.rs
index c9f8a7f..c766536 100644
--- a/src/mavlink/reflection.rs
+++ b/src/mavlink/reflection.rs
@@ -7,6 +7,7 @@
use std::collections::HashMap;
use mavlink_bindgen::parser::{MavProfile, MavType};
+use skyward_mavlink::mavlink::Message;
use crate::error::ErrInstrument;
@@ -39,12 +40,12 @@ impl ReflectionContext {
}
/// Get the name of a message by its ID.
- pub fn get_msg(&self, msg: impl MessageLike) -> Option<&MavMessage> {
+ pub fn get_msg(&'static self, msg: impl MessageLike) -> Option<&'static MavMessage> {
msg.to_mav_message(self).ok()
}
/// Get all field names for a message by its ID.
- pub fn get_fields(&self, message_id: impl MessageLike) -> Option<Vec<IndexedField<'_>>> {
+ pub fn get_fields(&'static self, message_id: impl MessageLike) -> Option<Vec<IndexedField>> {
message_id.to_mav_message(self).ok().map(|msg| {
msg.fields
.iter()
@@ -72,9 +73,9 @@ impl ReflectionContext {
/// Get all plottable field names for a message by its ID.
pub fn get_plottable_fields(
- &self,
+ &'static self,
message_id: impl MessageLike,
- ) -> Option<Vec<IndexedField<'_>>> {
+ ) -> Option<Vec<IndexedField>> {
let msg = message_id.to_mav_message(self).ok()?;
msg.fields
.iter()
@@ -98,14 +99,36 @@ impl ReflectionContext {
}
}
-#[derive(Clone)]
-pub struct IndexedField<'a> {
+#[derive(Debug, Clone)]
+pub struct IndexedField {
id: usize,
- msg: &'a MavMessage,
- field: &'a MavField,
+ msg: &'static MavMessage,
+ field: &'static MavField,
}
-impl IndexedField<'_> {
+macro_rules! extract_as_type {
+ ($as_type: ty, $func: ident, $($mav_ty: ident, $rust_ty: ty),+) => {
+ pub fn $func(&self, message: &impl Message) -> Result<$as_type, String> {
+ macro_rules! downcast {
+ ($value: expr, $type: ty) => {
+ Ok(*$value
+ .downcast::<$type>()
+ .map_err(|_| "Type mismatch".to_string())? as $as_type)
+ };
+ }
+
+ let value = message
+ .get_field(self.id)
+ .ok_or("Field not found".to_string())?;
+ match self.field.mavtype {
+ $(MavType::$mav_ty => downcast!(value, $rust_ty),)+
+ _ => Err("Field type not supported".to_string()),
+ }
+ }
+ };
+}
+
+impl IndexedField {
pub fn msg(&self) -> &MavMessage {
self.msg
}
@@ -127,16 +150,136 @@ impl IndexedField<'_> {
}
}
+/// ### Extractors
+/// These methods allow to extract the value of a field from a message, casting
+/// it to the desired type.
+impl IndexedField {
+ #[rustfmt::skip]
+ extract_as_type!(f32, extract_as_f32,
+ UInt8, u8,
+ UInt16, u16,
+ UInt32, u32,
+ UInt64, u64,
+ Int8, i8,
+ Int16, i16,
+ Int32, i32,
+ Int64, i64,
+ Float, f32,
+ Double, f64
+ );
+
+ #[rustfmt::skip]
+ extract_as_type!(f64, extract_as_f64,
+ UInt8, u8,
+ UInt16, u16,
+ UInt32, u32,
+ UInt64, u64,
+ Int8, i8,
+ Int16, i16,
+ Int32, i32,
+ Int64, i64,
+ Float, f32,
+ Double, f64
+ );
+
+ #[rustfmt::skip]
+ extract_as_type!(u8, extract_as_u8,
+ UInt8, u8,
+ Char, char
+ );
+
+ #[rustfmt::skip]
+ extract_as_type!(u16, extract_as_u16,
+ UInt8, u8,
+ Int8, i8,
+ UInt16, u16
+ );
+
+ #[rustfmt::skip]
+ extract_as_type!(u32, extract_as_u32,
+ UInt8, u8,
+ Int8, i8,
+ UInt16, u16,
+ Int16, i16,
+ UInt32, u32
+ );
+
+ #[rustfmt::skip]
+ extract_as_type!(u64, extract_as_u64,
+ UInt8, u8,
+ Int8, i8,
+ UInt16, u16,
+ Int16, i16,
+ UInt32, u32,
+ Int32, i32,
+ UInt64, u64
+ );
+
+ #[rustfmt::skip]
+ extract_as_type!(i8, extract_as_i8,
+ Int8, i8
+ );
+
+ #[rustfmt::skip]
+ extract_as_type!(i16, extract_as_i16,
+ UInt8, u8,
+ Int8, i8,
+ Int16, i16
+ );
+
+ #[rustfmt::skip]
+ extract_as_type!(i32, extract_as_i32,
+ UInt8, u8,
+ Int8, i8,
+ UInt16, u16,
+ Int16, i16,
+ Int32, i32
+ );
+
+ #[rustfmt::skip]
+ extract_as_type!(i64, extract_as_i64,
+ UInt8, u8,
+ Int8, i8,
+ UInt16, u16,
+ Int16, i16,
+ UInt32, u32,
+ Int32, i32,
+ Int64, i64
+ );
+
+ #[rustfmt::skip]
+ extract_as_type!(char, extract_as_char,
+ UInt8, u8,
+ Char, char
+ );
+}
+
+impl std::hash::Hash for IndexedField {
+ fn hash<H: std::hash::Hasher>(&self, state: &mut H) {
+ self.id.hash(state);
+ self.msg.id.hash(state);
+ }
+}
+
+impl PartialEq for IndexedField {
+ fn eq(&self, other: &Self) -> bool {
+ self.id == other.id && self.msg.id == other.msg.id
+ }
+}
+
pub trait MessageLike {
- fn to_mav_message<'b>(&self, ctx: &'b ReflectionContext) -> Result<&'b MavMessage, String>;
+ fn to_mav_message(
+ &self,
+ ctx: &'static ReflectionContext,
+ ) -> Result<&'static MavMessage, String>;
}
-pub trait FieldLike<'a, 'b> {
+pub trait FieldLike {
fn to_mav_field(
- &'a self,
+ &self,
msg_id: u32,
- ctx: &'b ReflectionContext,
- ) -> Result<IndexedField<'b>, String>;
+ ctx: &'static ReflectionContext,
+ ) -> Result<IndexedField, String>;
}
impl MessageLike for u32 {
@@ -158,12 +301,12 @@ impl MessageLike for &str {
}
}
-impl<'b> FieldLike<'_, 'b> for &MavField {
+impl FieldLike for &MavField {
fn to_mav_field(
&self,
msg_id: u32,
- ctx: &'b ReflectionContext,
- ) -> Result<IndexedField<'b>, String> {
+ ctx: &'static ReflectionContext,
+ ) -> Result<IndexedField, String> {
ctx.id_msg_map
.get(&msg_id)
.and_then(|msg| {
@@ -181,12 +324,8 @@ impl<'b> FieldLike<'_, 'b> for &MavField {
}
}
-impl<'b> FieldLike<'b, 'b> for IndexedField<'b> {
- fn to_mav_field(
- &self,
- _msg_id: u32,
- _ctx: &ReflectionContext,
- ) -> Result<IndexedField<'_>, String> {
+impl FieldLike for IndexedField {
+ fn to_mav_field(&self, _msg_id: u32, _ctx: &ReflectionContext) -> Result<IndexedField, String> {
Ok(IndexedField {
id: self.id,
msg: self.msg,
@@ -195,12 +334,12 @@ impl<'b> FieldLike<'b, 'b> for IndexedField<'b> {
}
}
-impl<'b> FieldLike<'_, 'b> for usize {
+impl FieldLike for usize {
fn to_mav_field(
&self,
msg_id: u32,
- ctx: &'b ReflectionContext,
- ) -> Result<IndexedField<'b>, String> {
+ ctx: &'static ReflectionContext,
+ ) -> Result<IndexedField, String> {
ctx.id_msg_map
.get(&msg_id)
.and_then(|msg| {
@@ -214,12 +353,12 @@ impl<'b> FieldLike<'_, 'b> for usize {
}
}
-impl<'b> FieldLike<'_, 'b> for &str {
+impl FieldLike for &str {
fn to_mav_field(
&self,
msg_id: u32,
- ctx: &'b ReflectionContext,
- ) -> Result<IndexedField<'b>, String> {
+ ctx: &'static ReflectionContext,
+ ) -> Result<IndexedField, String> {
ctx.id_msg_map
.get(&msg_id)
.and_then(|msg| {
diff --git a/src/ui/cache.rs b/src/ui/cache.rs
index 9835924..ec089b2 100644
--- a/src/ui/cache.rs
+++ b/src/ui/cache.rs
@@ -7,10 +7,7 @@ use std::{
time::{Duration, Instant},
};
-use egui::Context;
-use serialport::SerialPortInfo;
-
-use crate::{communication, error::ErrInstrument};
+use crate::error::ErrInstrument;
const SERIAL_PORT_REFRESH_INTERVAL: Duration = Duration::from_millis(500);
const SHORT_REFRESH_INTERVAL: Duration = Duration::from_millis(500);
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
index 9d9ad09..01b5849 100644
--- a/src/ui/panes/plot.rs
+++ b/src/ui/panes/plot.rs
@@ -5,16 +5,15 @@ use crate::{
MAVLINK_PROFILE,
error::ErrInstrument,
mavlink::{
- Message, MessageData, ROCKET_FLIGHT_TM_DATA, TimedMessage,
- reflection::{self, FieldLike},
+ MessageData, ROCKET_FLIGHT_TM_DATA, TimedMessage,
+ reflection::{FieldLike, IndexedField},
},
ui::{app::PaneResponse, cache::ChangeTracker},
};
use egui::{Color32, Vec2b};
use egui_plot::{Legend, Line, PlotPoint, PlotPoints};
use egui_tiles::TileId;
-use mavlink_bindgen::parser::MavType;
-use serde::{Deserialize, Serialize};
+use serde::{self, Deserialize, Serialize, ser::SerializeStruct};
use source_window::sources_window;
use std::{hash::Hash, iter::zip};
@@ -65,7 +64,7 @@ impl PaneBehavior for Plot2DPane {
))
.color(settings.color)
.width(settings.width)
- .name(&field.field.name),
+ .name(&field.field().name),
);
}
plot_ui
@@ -104,10 +103,10 @@ impl PaneBehavior for Plot2DPane {
} = &self.settings;
for msg in messages {
- let x: f64 = x_field.extract_from_message(&msg.message).log_unwrap();
+ let x: f64 = x_field.extract_as_f64(&msg.message).log_unwrap();
let ys: Vec<f64> = y_fields
.iter()
- .map(|(field, _)| field.extract_from_message(&msg.message).log_unwrap())
+ .map(|(field, _)| field.extract_as_f64(&msg.message).log_unwrap())
.collect();
if self.line_data.len() < ys.len() {
@@ -115,7 +114,7 @@ impl PaneBehavior for Plot2DPane {
}
for (line, y) in zip(&mut self.line_data, ys) {
- let point = if x_field.field.name == "timestamp" {
+ let point = if x_field.field().name == "timestamp" {
PlotPoint::new(x / 1e6, y)
} else {
PlotPoint::new(x, y)
@@ -146,15 +145,15 @@ fn show_menu(ui: &mut egui::Ui, settings_visible: &mut bool) {
}
}
-#[derive(Clone, Debug, Serialize, Deserialize, PartialEq)]
+#[derive(Clone, Debug, PartialEq)]
struct PlotSettings {
plot_message_id: u32,
- x_field: FieldWithID,
- y_fields: Vec<(FieldWithID, LineSettings)>,
+ x_field: IndexedField,
+ y_fields: Vec<(IndexedField, LineSettings)>,
}
impl PlotSettings {
- fn plot_lines(&self) -> &[(FieldWithID, LineSettings)] {
+ fn plot_lines(&self) -> &[(IndexedField, LineSettings)] {
&self.y_fields
}
@@ -166,19 +165,19 @@ impl PlotSettings {
self.plot_message_id
}
- fn get_x_field(&self) -> &FieldWithID {
+ fn get_x_field(&self) -> &IndexedField {
&self.x_field
}
- fn get_mut_x_field(&mut self) -> &mut FieldWithID {
+ fn get_mut_x_field(&mut self) -> &mut IndexedField {
&mut self.x_field
}
- fn get_mut_y_fields(&mut self) -> &mut [(FieldWithID, LineSettings)] {
+ fn get_mut_y_fields(&mut self) -> &mut [(IndexedField, LineSettings)] {
&mut self.y_fields[..]
}
- fn set_x_field(&mut self, field: FieldWithID) {
+ fn set_x_field(&mut self, field: IndexedField) {
self.x_field = field;
}
@@ -186,11 +185,11 @@ impl PlotSettings {
self.y_fields.len()
}
- fn contains_field(&self, field: &FieldWithID) -> bool {
+ fn contains_field(&self, field: &IndexedField) -> bool {
self.y_fields.iter().any(|(f, _)| f == field)
}
- fn add_field(&mut self, field: FieldWithID) {
+ fn add_field(&mut self, field: IndexedField) {
let line_settings = LineSettings::default();
self.y_fields.push((field, line_settings));
}
@@ -198,8 +197,7 @@ impl PlotSettings {
fn clear_fields(&mut self) {
self.x_field = 0
.to_mav_field(self.plot_message_id, &MAVLINK_PROFILE)
- .log_unwrap()
- .into();
+ .log_unwrap();
self.y_fields.clear();
}
}
@@ -207,9 +205,9 @@ impl PlotSettings {
impl Default for PlotSettings {
fn default() -> Self {
let msg_id = ROCKET_FLIGHT_TM_DATA::ID;
- let x_field = FieldWithID::new(msg_id, 0).log_unwrap();
+ let x_field = 0.to_mav_field(msg_id, &MAVLINK_PROFILE).log_unwrap();
let y_fields = vec![(
- FieldWithID::new(msg_id, 1).log_unwrap(),
+ 1.to_mav_field(msg_id, &MAVLINK_PROFILE).log_unwrap(),
LineSettings::default(),
)];
Self {
@@ -250,65 +248,53 @@ impl Hash for LineSettings {
}
}
-/// A struct to hold a field and its ID in a message
-/// We use this and not `reflection::IndexedField` because we need to serialize it
-#[derive(Clone, Debug, Serialize, Deserialize, PartialEq)]
-struct FieldWithID {
- id: usize,
- field: reflection::MavField,
-}
-
-impl FieldWithID {
- fn new(msg_id: u32, field_id: usize) -> Option<Self> {
- Some(Self {
- id: field_id,
- field: field_id
- .to_mav_field(msg_id, &MAVLINK_PROFILE)
- .ok()?
- .field()
- .clone(),
- })
+impl Serialize for PlotSettings {
+ fn serialize<S: serde::Serializer>(&self, serializer: S) -> Result<S::Ok, S::Error> {
+ let mut state = serializer.serialize_struct("PlotSettings", 3)?;
+ let y_fields: Vec<_> = self.y_fields.iter().map(|(f, s)| (f.id(), s)).collect();
+ state.serialize_field("msg_id", &self.plot_message_id)?;
+ state.serialize_field("x_field", &self.x_field.id())?;
+ state.serialize_field("y_fields", &y_fields)?;
+ state.end()
}
+}
- fn extract_from_message(&self, message: &impl Message) -> Result<f64, String> {
- macro_rules! downcast {
- ($value: expr, $type: ty) => {
- Ok(*$value
- .downcast::<$type>()
- .map_err(|_| "Type mismatch".to_string())? as f64)
- };
+impl<'de> Deserialize<'de> for PlotSettings {
+ fn deserialize<D: serde::Deserializer<'de>>(deserializer: D) -> Result<Self, D::Error> {
+ #[derive(Deserialize)]
+ struct FieldSettings {
+ field: usize,
+ settings: LineSettings,
}
- let value = message
- .get_field(self.id)
- .ok_or("Field not found".to_string())?;
- match self.field.mavtype {
- MavType::UInt8 => downcast!(value, u8),
- MavType::UInt16 => downcast!(value, u16),
- MavType::UInt32 => downcast!(value, u32),
- MavType::UInt64 => downcast!(value, u64),
- MavType::Int8 => downcast!(value, i8),
- MavType::Int16 => downcast!(value, i16),
- MavType::Int32 => downcast!(value, i32),
- MavType::Int64 => downcast!(value, i64),
- MavType::Float => downcast!(value, f32),
- MavType::Double => downcast!(value, f64),
- _ => Err("Field type not supported".to_string()),
+ #[derive(Deserialize)]
+ struct PlotSettingsData {
+ msg_id: u32,
+ x_field: usize,
+ y_fields: Vec<FieldSettings>,
}
- }
-}
-impl Hash for FieldWithID {
- fn hash<H: std::hash::Hasher>(&self, state: &mut H) {
- self.id.hash(state);
- }
-}
-
-impl From<reflection::IndexedField<'_>> for FieldWithID {
- fn from(indexed_field: reflection::IndexedField<'_>) -> Self {
- Self {
- id: indexed_field.id(),
- field: indexed_field.field().clone(),
- }
+ let data = PlotSettingsData::deserialize(deserializer)?;
+ let x_field = data
+ .x_field
+ .to_mav_field(data.msg_id, &MAVLINK_PROFILE)
+ .log_unwrap();
+ let y_fields = data
+ .y_fields
+ .into_iter()
+ .map(|FieldSettings { field, settings }| {
+ (
+ field
+ .to_mav_field(data.msg_id, &MAVLINK_PROFILE)
+ .log_unwrap(),
+ settings,
+ )
+ })
+ .collect();
+ Ok(Self {
+ plot_message_id: data.msg_id,
+ x_field,
+ y_fields,
+ })
}
}
diff --git a/src/ui/panes/plot/source_window.rs b/src/ui/panes/plot/source_window.rs
index e49df73..bf636a7 100644
--- a/src/ui/panes/plot/source_window.rs
+++ b/src/ui/panes/plot/source_window.rs
@@ -1,7 +1,4 @@
-use crate::{
- MAVLINK_PROFILE,
- ui::{cache::ChangeTracker, panes::plot::FieldWithID},
-};
+use crate::{MAVLINK_PROFILE, ui::cache::ChangeTracker};
use crate::error::ErrInstrument;
@@ -32,12 +29,9 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
}
// check fields and assign a default field_x and field_y once the msg is changed
- let fields: Vec<FieldWithID> = MAVLINK_PROFILE
+ let fields = MAVLINK_PROFILE
.get_plottable_fields(plot_settings.get_msg_id())
- .log_expect("Invalid message id")
- .into_iter()
- .map(|f| f.into())
- .collect::<Vec<_>>();
+ .log_expect("Invalid message 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
@@ -57,10 +51,10 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
// if fields are valid, show the combo boxes for the x_axis
egui::ComboBox::from_label("X Axis")
- .selected_text(&x_field.field.name)
+ .selected_text(&x_field.field().name)
.show_ui(ui, |ui| {
for msg in fields.iter() {
- ui.selectable_value(x_field, msg.to_owned(), &msg.field.name);
+ ui.selectable_value(x_field, msg.to_owned(), &msg.field().name);
}
});
@@ -85,10 +79,10 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
"Y Axis".to_owned()
};
egui::ComboBox::from_label(widget_label)
- .selected_text(&field.field.name)
+ .selected_text(&field.field().name)
.show_ui(ui, |ui| {
for msg in fields.iter() {
- ui.selectable_value(field, msg.to_owned(), &msg.field.name);
+ ui.selectable_value(field, msg.to_owned(), &msg.field().name);
}
});
ui.color_edit_button_srgba(color);
--
GitLab
From d1888318d90881578642a42bcfab7233c8242fcb Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 16 Mar 2025 20:05:13 +0100
Subject: [PATCH 5/8] CHECKPOINT
---
Cargo.lock | 282 ++++++++++++++++-------------
Cargo.toml | 12 +-
src/communication/serial.rs | 2 +-
src/ui/cache.rs | 60 +++++-
src/ui/panes/plot.rs | 278 +++++++++++++++++++---------
src/ui/panes/plot/source_window.rs | 15 +-
src/utils.rs | 2 +-
src/utils/units.rs | 70 +++++++
8 files changed, 486 insertions(+), 235 deletions(-)
create mode 100644 src/utils/units.rs
diff --git a/Cargo.lock b/Cargo.lock
index 1dea7a6..14c6a43 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -190,9 +190,9 @@ dependencies = [
[[package]]
name = "anyhow"
-version = "1.0.96"
+version = "1.0.97"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6b964d184e89d9b6b67dd2715bc8e74cf3107fb2b529990c90cf517326150bf4"
+checksum = "dcfed56ad506cb2c684a14971b8861fdc3baaaae314b9e5f9bb532cbe3ba7a4f"
[[package]]
name = "arboard"
@@ -300,7 +300,7 @@ dependencies = [
"futures-lite",
"parking",
"polling",
- "rustix",
+ "rustix 0.38.44",
"slab",
"tracing",
"windows-sys 0.59.0",
@@ -332,7 +332,7 @@ dependencies = [
"cfg-if",
"event-listener",
"futures-lite",
- "rustix",
+ "rustix 0.38.44",
"tracing",
]
@@ -344,7 +344,7 @@ checksum = "3b43422f69d8ff38f95f1b2bb76517c91589a924d1559a0e935d7c8ce0274c11"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
]
[[package]]
@@ -359,7 +359,7 @@ dependencies = [
"cfg-if",
"futures-core",
"futures-io",
- "rustix",
+ "rustix 0.38.44",
"signal-hook-registry",
"slab",
"windows-sys 0.59.0",
@@ -373,13 +373,13 @@ checksum = "8b75356056920673b02621b35afd0f7dda9306d03c79a30f5c56c44cf256e3de"
[[package]]
name = "async-trait"
-version = "0.1.86"
+version = "0.1.87"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "644dd749086bf3771a2fbc5f256fdb982d53f011c7d5d560304eafeecebce79d"
+checksum = "d556ec1359574147ec0c4fc5eb525f3f23263a592b1a9c07e0a75b427de55c97"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
]
[[package]]
@@ -541,9 +541,9 @@ checksum = "1628fb46dfa0b37568d12e5edd512553eccf6a22a78e8bde00bb4aed84d5bdbf"
[[package]]
name = "bytemuck"
-version = "1.21.0"
+version = "1.22.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ef657dfab802224e671f5818e9a4935f9b1957ed18e58292690cc39e7a4092a3"
+checksum = "b6b1fc10dbac614ebc03540c9dbd60e83887fda27794998c6528f1782047d540"
dependencies = [
"bytemuck_derive",
]
@@ -556,7 +556,7 @@ checksum = "3fa76293b4f7bb636ab88fd78228235b5248b4d05cc589aed610f954af5d7c7a"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
]
[[package]]
@@ -573,9 +573,9 @@ checksum = "8f1fe948ff07f4bd06c30984e69f5b4899c516a3ef74f34df92a2df2ab535495"
[[package]]
name = "bytes"
-version = "1.10.0"
+version = "1.10.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f61dac84819c6588b558454b194026eb1f09c293b9036ae9b159e74e73ab6cf9"
+checksum = "d71b6127be86fdcfddb610f7182ac57211d4b18a3e9c82eb2d17662f2227ad6a"
[[package]]
name = "calloop"
@@ -586,7 +586,7 @@ dependencies = [
"bitflags 2.9.0",
"log",
"polling",
- "rustix",
+ "rustix 0.38.44",
"slab",
"thiserror 1.0.69",
]
@@ -598,7 +598,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "95a66a987056935f7efce4ab5668920b5d0dac4a7c99991a67395f13702ddd20"
dependencies = [
"calloop",
- "rustix",
+ "rustix 0.38.44",
"wayland-backend",
"wayland-client",
]
@@ -837,7 +837,7 @@ checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
]
[[package]]
@@ -872,15 +872,15 @@ checksum = "f25c0e292a7ca6d6498557ff1df68f32c99850012b6ea401cf8daf771f22ff53"
[[package]]
name = "dyn-clone"
-version = "1.0.18"
+version = "1.0.19"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "feeef44e73baff3a26d371801df019877a9866a8c493d315ab00177843314f35"
+checksum = "1c7a8fb8a9fbf66c1f703fe16184d10ca0ee9d23be5b4436400408ba54a95005"
[[package]]
name = "ecolor"
-version = "0.31.0"
+version = "0.31.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "878e9005799dd739e5d5d89ff7480491c12d0af571d44399bcaefa1ee172dd76"
+checksum = "bc4feb366740ded31a004a0e4452fbf84e80ef432ecf8314c485210229672fd1"
dependencies = [
"bytemuck",
"emath",
@@ -889,9 +889,9 @@ dependencies = [
[[package]]
name = "eframe"
-version = "0.31.0"
+version = "0.31.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eba4c50d905804fe9ec4e159fde06b9d38f9440228617ab64a03d7a2091ece63"
+checksum = "d0dfe0859f3fb1bc6424c57d41e10e9093fe938f426b691e42272c2f336d915c"
dependencies = [
"ahash",
"bytemuck",
@@ -928,9 +928,9 @@ dependencies = [
[[package]]
name = "egui"
-version = "0.31.0"
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+
[[package]]
name = "tracy-client-sys"
version = "0.24.3"
@@ -3686,9 +3716,9 @@ checksum = "75b844d17643ee918803943289730bec8aac480150456169e647ed0b576ba539"
[[package]]
name = "unicode-ident"
-version = "1.0.17"
+version = "1.0.18"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "00e2473a93778eb0bad35909dff6a10d28e63f792f16ed15e404fca9d5eeedbe"
+checksum = "5a5f39404a5da50712a4c1eecf25e90dd62b613502b7e925fd4e4d19b5c96512"
[[package]]
name = "unicode-segmentation"
@@ -3790,7 +3820,7 @@ dependencies = [
"log",
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
"wasm-bindgen-shared",
]
@@ -3825,7 +3855,7 @@ checksum = "8ae87ea40c9f689fc23f209965b6fb8a99ad69aeeb0231408be24920604395de"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
"wasm-bindgen-backend",
"wasm-bindgen-shared",
]
@@ -3847,7 +3877,7 @@ checksum = "b7208998eaa3870dad37ec8836979581506e0c5c64c20c9e79e9d2a10d6f47bf"
dependencies = [
"cc",
"downcast-rs",
- "rustix",
+ "rustix 0.38.44",
"scoped-tls",
"smallvec",
"wayland-sys",
@@ -3860,7 +3890,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c2120de3d33638aaef5b9f4472bff75f07c56379cf76ea320bd3a3d65ecaf73f"
dependencies = [
"bitflags 2.9.0",
- "rustix",
+ "rustix 0.38.44",
"wayland-backend",
"wayland-scanner",
]
@@ -3882,7 +3912,7 @@ version = "0.31.8"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a93029cbb6650748881a00e4922b076092a6a08c11e7fbdb923f064b23968c5d"
dependencies = [
- "rustix",
+ "rustix 0.38.44",
"wayland-client",
"xcursor",
]
@@ -4037,7 +4067,7 @@ dependencies = [
"raw-window-handle",
"rustc-hash",
"smallvec",
- "thiserror 2.0.11",
+ "thiserror 2.0.12",
"wgpu-hal",
"wgpu-types",
]
@@ -4076,7 +4106,7 @@ dependencies = [
"renderdoc-sys",
"rustc-hash",
"smallvec",
- "thiserror 2.0.11",
+ "thiserror 2.0.12",
"wasm-bindgen",
"web-sys",
"wgpu-types",
@@ -4157,7 +4187,7 @@ checksum = "2bbd5b46c938e506ecbce286b6628a02171d56153ba733b6c741fc627ec9579b"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
]
[[package]]
@@ -4168,7 +4198,7 @@ checksum = "053c4c462dc91d3b1504c6fe5a726dd15e216ba718e84a0e46a88fbe5ded3515"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
]
[[package]]
@@ -4436,7 +4466,7 @@ dependencies = [
"pin-project",
"raw-window-handle",
"redox_syscall 0.4.1",
- "rustix",
+ "rustix 0.38.44",
"sctk-adwaita",
"smithay-client-toolkit",
"smol_str",
@@ -4508,7 +4538,7 @@ dependencies = [
"libc",
"libloading",
"once_cell",
- "rustix",
+ "rustix 0.38.44",
"x11rb-protocol",
]
@@ -4579,7 +4609,7 @@ checksum = "2380878cad4ac9aac1e2435f3eb4020e8374b5f13c296cb75b4620ff8e229154"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
"synstructure",
]
@@ -4639,7 +4669,7 @@ checksum = "709ab20fc57cb22af85be7b360239563209258430bccf38d8b979c5a2ae3ecce"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
"zbus-lockstep",
"zbus_xml",
"zvariant",
@@ -4654,7 +4684,7 @@ dependencies = [
"proc-macro-crate",
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
"zvariant_utils",
]
@@ -4709,7 +4739,7 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
]
[[package]]
@@ -4720,7 +4750,7 @@ checksum = "6352c01d0edd5db859a63e2605f4ea3183ddbd15e2c4a9e7d32184df75e4f154"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
]
[[package]]
@@ -4740,7 +4770,7 @@ checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
"synstructure",
]
@@ -4763,7 +4793,7 @@ checksum = "6eafa6dfb17584ea3e2bd6e76e0cc15ad7af12b09abdd1ca55961bed9b1063c6"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
]
[[package]]
@@ -4788,7 +4818,7 @@ dependencies = [
"proc-macro-crate",
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
"zvariant_utils",
]
@@ -4800,5 +4830,5 @@ checksum = "c51bcff7cc3dbb5055396bcf774748c3dab426b4b8659046963523cee4808340"
dependencies = [
"proc-macro2",
"quote",
- "syn 2.0.98",
+ "syn 2.0.99",
]
diff --git a/Cargo.toml b/Cargo.toml
index d7507aa..0d667b7 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -18,11 +18,6 @@ egui_file = "0.22"
# =========== Asynchronous ===========
tokio = { version = "1.41", features = ["rt-multi-thread", "net", "sync"] }
# =========== Mavlink ===========
-skyward_mavlink = { git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git", branch = "rust-strum", features = [
- "reflection",
- "orion",
- "serde",
-] }
serialport = "4.7.0"
# ========= Persistency =========
serde = { version = "1.0", features = ["derive"] }
@@ -42,9 +37,14 @@ anyhow = "1.0"
ring-channel = "0.12.0"
thiserror = "2.0.7"
+[dependencies.skyward_mavlink]
+git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git"
+rev = "03d37888f7b5a84b5032ca1af392a16da7f39df2"
+features = ["reflection", "orion", "serde"]
+
[dependencies.mavlink-bindgen]
git = "https://git.skywarder.eu/avn/swd/mavlink/rust-mavlink.git"
-rev = "b7446436b3c96ca4c40d28b54eeed346e7bf021e"
+rev = "da4add3de8243d3b8194b9793677e4c950686ddc"
features = ["serde"]
[dev-dependencies]
diff --git a/src/communication/serial.rs b/src/communication/serial.rs
index b4d3897..a27efdb 100644
--- a/src/communication/serial.rs
+++ b/src/communication/serial.rs
@@ -54,7 +54,7 @@ pub fn find_first_stm32_port() -> Result<Option<SerialPortInfo>, serialport::Err
pub mod cached {
use egui::Context;
- use crate::ui::cache::CacheCall;
+ use crate::ui::cache::RecentCallCache;
use super::*;
diff --git a/src/ui/cache.rs b/src/ui/cache.rs
index ec089b2..031a361 100644
--- a/src/ui/cache.rs
+++ b/src/ui/cache.rs
@@ -7,6 +7,8 @@ use std::{
time::{Duration, Instant},
};
+use egui::{Context, Id, Ui};
+
use crate::error::ErrInstrument;
const SERIAL_PORT_REFRESH_INTERVAL: Duration = Duration::from_millis(500);
@@ -20,7 +22,7 @@ const INDEF_REFRESH_INTERVAL: Duration = Duration::MAX;
/// * `id` - The unique identifier for the cached item.
/// * `fun` - The function whose return value is to be cached.
/// * `expiration_duration` - The duration after which the cache should be refreshed.
-fn call<T, F>(ctx: &egui::Context, id: egui::Id, fun: F, expiration_duration: Duration) -> T
+fn call<T, F>(ctx: &Context, id: Id, fun: F, expiration_duration: Duration) -> T
where
F: Fn() -> T,
T: Clone + Send + Sync + 'static,
@@ -40,7 +42,7 @@ where
}
/// A trait to extend egui's Context with a caching function.
-pub trait CacheCall {
+pub trait RecentCallCache {
/// Calls the provided function and caches its result. Every time this
/// function is called, it will return the cached value if it is still
/// valid.
@@ -49,7 +51,7 @@ pub trait CacheCall {
/// * `id` - A unique identifier for the cached value.
/// * `fun` - The function to be cached.
/// * `expiration_duration` - The cache expiration duration.
- fn call_cached<F, T>(&self, id: egui::Id, fun: F, expiration_duration: Duration) -> T
+ fn cached_function_call_for<F, T>(&self, id: Id, fun: F, expiration_duration: Duration) -> T
where
F: Fn() -> T,
T: Clone + Send + Sync + 'static;
@@ -60,8 +62,8 @@ pub trait CacheCall {
T: Clone + Send + Sync + 'static,
H: Hash,
{
- let id = egui::Id::new(hashable);
- self.call_cached(id, fun, SHORT_REFRESH_INTERVAL)
+ let id = Id::new(hashable);
+ self.cached_function_call_for(id, fun, SHORT_REFRESH_INTERVAL)
}
fn call_cached_indef<F, T, H>(&self, hashable: &H, fun: F) -> T
@@ -70,14 +72,14 @@ pub trait CacheCall {
T: Clone + Send + Sync + 'static,
H: Hash,
{
- let id = egui::Id::new(hashable);
- self.call_cached(id, fun, INDEF_REFRESH_INTERVAL)
+ let id = Id::new(hashable);
+ self.cached_function_call_for(id, fun, INDEF_REFRESH_INTERVAL)
}
}
-impl CacheCall for egui::Context {
+impl RecentCallCache for Context {
/// Implements the caching call using the internal `call` function.
- fn call_cached<F, T>(&self, id: egui::Id, fun: F, expiration_duration: Duration) -> T
+ fn cached_function_call_for<F, T>(&self, id: Id, fun: F, expiration_duration: Duration) -> T
where
F: Fn() -> T,
T: Clone + Send + Sync + 'static,
@@ -86,6 +88,46 @@ impl CacheCall for egui::Context {
}
}
+impl RecentCallCache for &Ui {
+ /// Implements the caching call using the context of the UI.
+ fn cached_function_call_for<F, T>(&self, id: Id, fun: F, expiration_duration: Duration) -> T
+ where
+ F: Fn() -> T,
+ T: Clone + Send + Sync + 'static,
+ {
+ call(self.ctx(), id, fun, expiration_duration)
+ }
+}
+
+pub trait CacheWithCondition {
+ fn cache_result_if<F, T, H>(&self, hashable: H, condition: bool, fun: F) -> T
+ where
+ F: Fn() -> T,
+ T: Clone + Send + Sync + 'static,
+ H: Hash;
+}
+
+impl CacheWithCondition for Ui {
+ fn cache_result_if<F, T, H>(&self, hashable: H, condition: bool, fun: F) -> T
+ where
+ F: Fn() -> T,
+ T: Clone + Send + Sync + 'static,
+ H: Hash,
+ {
+ let id = self.next_auto_id().with(hashable);
+ self.memory_mut(|m| {
+ let value = m.data.get_temp::<T>(id);
+ if !condition || value.is_none() {
+ let value = fun();
+ m.data.insert_temp(id, value.clone());
+ value
+ } else {
+ value.log_unwrap()
+ }
+ })
+ }
+}
+
/// ChangeTracker manages the tracking of state changes using an integrity digest.
///
/// The `integrity_digest` field holds a 64-bit unsigned integer that represents
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
index 01b5849..7159a19 100644
--- a/src/ui/panes/plot.rs
+++ b/src/ui/panes/plot.rs
@@ -8,14 +8,18 @@ use crate::{
MessageData, ROCKET_FLIGHT_TM_DATA, TimedMessage,
reflection::{FieldLike, IndexedField},
},
- ui::{app::PaneResponse, cache::ChangeTracker},
+ ui::app::PaneResponse,
+ utils::units::UnitOfMeasure,
};
use egui::{Color32, Vec2b};
-use egui_plot::{Legend, Line, PlotPoint, PlotPoints};
+use egui_plot::{AxisHints, HPlacement, Legend, Line, PlotPoint, log_grid_spacer};
use egui_tiles::TileId;
-use serde::{self, Deserialize, Serialize, ser::SerializeStruct};
+use serde::{self, Deserialize, Serialize};
use source_window::sources_window;
-use std::{hash::Hash, iter::zip};
+use std::{
+ hash::{DefaultHasher, Hash, Hasher},
+ iter::zip,
+};
#[derive(Clone, Default, Debug, Serialize, Deserialize)]
pub struct Plot2DPane {
@@ -25,7 +29,6 @@ pub struct Plot2DPane {
line_data: Vec<Vec<PlotPoint>>,
#[serde(skip)]
state_valid: bool,
- // UI settings
#[serde(skip)]
settings_visible: bool,
#[serde(skip)]
@@ -42,46 +45,132 @@ impl PaneBehavior for Plot2DPane {
#[profiling::function]
fn ui(&mut self, ui: &mut egui::Ui, _: TileId) -> PaneResponse {
let mut response = PaneResponse::default();
+ let data_settings_digest = self.settings.data_digest();
let ctrl_pressed = ui.input(|i| i.modifiers.ctrl);
- // plot last 100 messages
- egui_plot::Plot::new("plot")
+ let x_unit = UnitOfMeasure::from(
+ &self
+ .settings
+ .x_field
+ .field()
+ .unit
+ .clone()
+ .unwrap_or_default(),
+ );
+ let y_units = self
+ .settings
+ .y_fields
+ .iter()
+ .map(|(field, _)| field.field().unit.as_ref().map(UnitOfMeasure::from))
+ .collect::<Vec<_>>();
+ // define y_unit as the common unit of the y_fields if they are all the same
+ let y_unit = y_units
+ .iter()
+ .fold(y_units.first().log_unwrap(), |acc, unit| {
+ match (acc, unit) {
+ (Some(uom), Some(unit)) if uom == unit => acc,
+ _ => &None,
+ }
+ });
+ let x_name = self.settings.x_field.field().name.clone();
+
+ let x_axis = match x_unit {
+ UnitOfMeasure::Time(ref time_unit) => {
+ AxisHints::new_x().label(&x_name).formatter(move |m, r| {
+ let scaling_factor_to_nanos = time_unit.scale() * 1e9;
+ let r_span_in_nanos = (r.end() - r.start()).abs() * scaling_factor_to_nanos;
+ let m_in_nanos = m.value * scaling_factor_to_nanos;
+ // all the following numbers are arbitrary
+ // they are chosen based on common sense
+ if r_span_in_nanos < 4e3 {
+ format!("{:.0}ns", m_in_nanos)
+ } else if r_span_in_nanos < 4e6 {
+ format!("{:.0}µs", m_in_nanos / 1e3)
+ } else if r_span_in_nanos < 4e9 {
+ format!("{:.0}ms", m_in_nanos / 1e6)
+ } else if r_span_in_nanos < 24e10 {
+ format!("{:.0}s", m_in_nanos / 1e9)
+ } else if r_span_in_nanos < 144e11 {
+ format!("{:.0}m{:.0}s", m_in_nanos / 60e9, (m_in_nanos % 60e9) / 1e9)
+ } else if r_span_in_nanos < 3456e11 {
+ format!(
+ "{:.0}h{:.0}m",
+ m_in_nanos / 3600e9,
+ (m_in_nanos % 3600e9) / 60e9
+ )
+ } else {
+ format!(
+ "{:.0}d{:.0}h",
+ m_in_nanos / 86400e9,
+ (m_in_nanos % 86400e9) / 3600e9
+ )
+ }
+ })
+ }
+ _ => AxisHints::new_x().label(&x_name),
+ };
+ let y_axis = AxisHints::new_y().placement(HPlacement::Right);
+
+ let cursor_formatter = |name: &str, value: &PlotPoint| {
+ let x_unit = format!(" [{}]", x_unit);
+ let y_unit = y_unit
+ .as_ref()
+ .map(|unit| format!(" [{}]", unit))
+ .unwrap_or_default();
+ if name.is_empty() {
+ format!(
+ "{}: {:.2}{}\ny: {:.2}{}",
+ x_name, value.x, x_unit, value.y, y_unit
+ )
+ } else {
+ format!(
+ "{}: {:.2}{}\n{}: {:.2}{}",
+ x_name, value.x, x_unit, name, value.y, y_unit
+ )
+ }
+ };
+
+ let mut plot = egui_plot::Plot::new("plot")
+ .x_grid_spacer(log_grid_spacer(4)) // 4 was an arbitrary choice
.auto_bounds(Vec2b::TRUE)
.legend(Legend::default())
- .label_formatter(|name, value| format!("{} - x:{:.2} y:{:.2}", name, value.x, value.y))
- .show(ui, |plot_ui| {
- self.contains_pointer = plot_ui.response().contains_pointer();
- if plot_ui.response().dragged() && ctrl_pressed {
- response.set_drag_started();
- }
+ .label_formatter(cursor_formatter);
+
+ if self.settings.axes_visible {
+ plot = plot.custom_x_axes(vec![x_axis]).custom_y_axes(vec![y_axis]);
+ } else {
+ plot = plot.show_axes(Vec2b::FALSE);
+ }
+
+ plot.show(ui, |plot_ui| {
+ self.contains_pointer = plot_ui.response().contains_pointer();
+ if plot_ui.response().dragged() && ctrl_pressed {
+ response.set_drag_started();
+ }
- for ((field, settings), points) in zip(self.settings.plot_lines(), &self.line_data)
- {
- plot_ui.line(
- Line::new(PlotPoints::from(
- &points[points.len().saturating_sub(100)..], // FIXME: don't show just the last 100 points
- ))
+ for ((field, settings), points) in zip(self.settings.plot_lines(), &self.line_data) {
+ plot_ui.line(
+ Line::new(&points[..])
.color(settings.color)
.width(settings.width)
.name(&field.field().name),
- );
- }
- plot_ui
- .response()
- .context_menu(|ui| show_menu(ui, &mut self.settings_visible));
- });
+ );
+ }
+ plot_ui
+ .response()
+ .context_menu(|ui| show_menu(ui, &mut self.settings_visible, &mut self.settings));
+ });
- let settings_hash = ChangeTracker::record_initial_state(&self.settings);
egui::Window::new("Plot Settings")
- .id(ui.auto_id_with("plot_settings")) // TODO: fix this issue with ids
+ .id(ui.auto_id_with("plot_settings"))
.auto_sized()
.collapsible(true)
.movable(true)
.open(&mut self.settings_visible)
.show(ui.ctx(), |ui| sources_window(ui, &mut self.settings));
- if settings_hash.has_changed(&self.settings) {
+ if data_settings_digest != self.settings.data_digest() {
self.state_valid = false;
}
@@ -114,13 +203,7 @@ impl PaneBehavior for Plot2DPane {
}
for (line, y) in zip(&mut self.line_data, ys) {
- let point = if x_field.field().name == "timestamp" {
- PlotPoint::new(x / 1e6, y)
- } else {
- PlotPoint::new(x, y)
- };
-
- line.push(point);
+ line.push(PlotPoint::new(x, y));
}
}
@@ -136,13 +219,15 @@ impl PaneBehavior for Plot2DPane {
}
}
-fn show_menu(ui: &mut egui::Ui, settings_visible: &mut bool) {
+fn show_menu(ui: &mut egui::Ui, settings_visible: &mut bool, settings: &mut PlotSettings) {
ui.set_max_width(200.0); // To make sure we wrap long text
- if ui.button("Settings…").clicked() {
+ if ui.button("Source Data Settings…").clicked() {
*settings_visible = true;
ui.close_menu();
}
+
+ ui.checkbox(&mut settings.axes_visible, "Show Axes");
}
#[derive(Clone, Debug, PartialEq)]
@@ -150,6 +235,7 @@ struct PlotSettings {
plot_message_id: u32,
x_field: IndexedField,
y_fields: Vec<(IndexedField, LineSettings)>,
+ axes_visible: bool,
}
impl PlotSettings {
@@ -200,6 +286,15 @@ impl PlotSettings {
.log_unwrap();
self.y_fields.clear();
}
+
+ fn data_digest(&self) -> u64 {
+ let mut hasher = DefaultHasher::new();
+ self.x_field.hash(&mut hasher);
+ for (field, _) in &self.y_fields {
+ field.hash(&mut hasher);
+ }
+ hasher.finish()
+ }
}
impl Default for PlotSettings {
@@ -214,18 +309,11 @@ impl Default for PlotSettings {
plot_message_id: msg_id,
x_field,
y_fields,
+ axes_visible: true,
}
}
}
-impl Hash for PlotSettings {
- fn hash<H: std::hash::Hasher>(&self, state: &mut H) {
- self.plot_message_id.hash(state);
- self.x_field.hash(state);
- self.y_fields.hash(state);
- }
-}
-
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
struct LineSettings {
width: f32,
@@ -248,53 +336,69 @@ impl Hash for LineSettings {
}
}
-impl Serialize for PlotSettings {
- fn serialize<S: serde::Serializer>(&self, serializer: S) -> Result<S::Ok, S::Error> {
- let mut state = serializer.serialize_struct("PlotSettings", 3)?;
- let y_fields: Vec<_> = self.y_fields.iter().map(|(f, s)| (f.id(), s)).collect();
- state.serialize_field("msg_id", &self.plot_message_id)?;
- state.serialize_field("x_field", &self.x_field.id())?;
- state.serialize_field("y_fields", &y_fields)?;
- state.end()
+mod plot_serde {
+ use serde::{Deserialize, Serialize};
+
+ use super::*;
+
+ #[derive(Serialize, Deserialize)]
+ struct FieldSettings {
+ field: usize,
+ settings: LineSettings,
}
-}
-impl<'de> Deserialize<'de> for PlotSettings {
- fn deserialize<D: serde::Deserializer<'de>>(deserializer: D) -> Result<Self, D::Error> {
- #[derive(Deserialize)]
- struct FieldSettings {
- field: usize,
- settings: LineSettings,
- }
+ #[derive(Serialize, Deserialize)]
+ struct PlotSettingsData {
+ msg_id: u32,
+ x_field: usize,
+ y_fields: Vec<FieldSettings>,
+ axes_visible: bool,
+ }
- #[derive(Deserialize)]
- struct PlotSettingsData {
- msg_id: u32,
- x_field: usize,
- y_fields: Vec<FieldSettings>,
+ impl Serialize for PlotSettings {
+ fn serialize<S: serde::Serializer>(&self, serializer: S) -> Result<S::Ok, S::Error> {
+ let data = PlotSettingsData {
+ msg_id: self.plot_message_id,
+ x_field: self.x_field.id(),
+ y_fields: self
+ .y_fields
+ .iter()
+ .map(|(field, settings)| FieldSettings {
+ field: field.id(),
+ settings: settings.clone(),
+ })
+ .collect(),
+ axes_visible: self.axes_visible,
+ };
+ data.serialize(serializer)
}
+ }
- let data = PlotSettingsData::deserialize(deserializer)?;
- let x_field = data
- .x_field
- .to_mav_field(data.msg_id, &MAVLINK_PROFILE)
- .log_unwrap();
- let y_fields = data
- .y_fields
- .into_iter()
- .map(|FieldSettings { field, settings }| {
- (
- field
- .to_mav_field(data.msg_id, &MAVLINK_PROFILE)
- .log_unwrap(),
- settings,
- )
+ impl<'de> Deserialize<'de> for PlotSettings {
+ fn deserialize<D: serde::Deserializer<'de>>(deserializer: D) -> Result<Self, D::Error> {
+ let data = PlotSettingsData::deserialize(deserializer)?;
+ let x_field = data
+ .x_field
+ .to_mav_field(data.msg_id, &MAVLINK_PROFILE)
+ .log_unwrap();
+ let y_fields = data
+ .y_fields
+ .into_iter()
+ .map(|FieldSettings { field, settings }| {
+ (
+ field
+ .to_mav_field(data.msg_id, &MAVLINK_PROFILE)
+ .log_unwrap(),
+ settings,
+ )
+ })
+ .collect();
+ Ok(Self {
+ plot_message_id: data.msg_id,
+ x_field,
+ y_fields,
+ axes_visible: data.axes_visible,
})
- .collect();
- Ok(Self {
- plot_message_id: data.msg_id,
- x_field,
- y_fields,
- })
+ }
}
}
diff --git a/src/ui/panes/plot/source_window.rs b/src/ui/panes/plot/source_window.rs
index bf636a7..61ca3c7 100644
--- a/src/ui/panes/plot/source_window.rs
+++ b/src/ui/panes/plot/source_window.rs
@@ -1,4 +1,4 @@
-use crate::{MAVLINK_PROFILE, ui::cache::ChangeTracker};
+use crate::MAVLINK_PROFILE;
use crate::error::ErrInstrument;
@@ -6,7 +6,7 @@ use super::{LineSettings, PlotSettings};
#[profiling::function]
pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
- let settings_hash = ChangeTracker::record_initial_state(&plot_settings);
+ let data_settings_digest = plot_settings.data_digest();
// extract the msg name from the id to show it in the combo box
let msg_name = MAVLINK_PROFILE
@@ -24,7 +24,7 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
});
// reset fields if the message is changed
- if settings_hash.has_changed(plot_settings) {
+ if data_settings_digest != plot_settings.data_digest() {
plot_settings.clear_fields();
}
@@ -86,8 +86,13 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
}
});
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.add(
+ egui::DragValue::new(width)
+ .range(0.0..=10.0)
+ .speed(0.02)
+ .suffix(" pt"),
+ )
+ .on_hover_text("Width of the line in points");
ui.end_row();
}
});
diff --git a/src/utils.rs b/src/utils.rs
index 7e22ff5..503a473 100644
--- a/src/utils.rs
+++ b/src/utils.rs
@@ -1,2 +1,2 @@
mod ring_buffer;
-
+pub mod units;
diff --git a/src/utils/units.rs b/src/utils/units.rs
new file mode 100644
index 0000000..98267d9
--- /dev/null
+++ b/src/utils/units.rs
@@ -0,0 +1,70 @@
+use std::{fmt::Display, str::FromStr};
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub enum UnitOfMeasure {
+ Time(TimeUnits),
+ Other(String),
+}
+
+impl<T: AsRef<str>> From<T> for UnitOfMeasure {
+ fn from(s: T) -> Self {
+ if let Ok(unit) = TimeUnits::from_str(s.as_ref()) {
+ UnitOfMeasure::Time(unit)
+ } else {
+ UnitOfMeasure::Other(s.as_ref().to_string())
+ }
+ }
+}
+
+impl Display for UnitOfMeasure {
+ fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+ match self {
+ UnitOfMeasure::Time(unit) => write!(f, "{}", unit),
+ UnitOfMeasure::Other(unit) => write!(f, "{}", unit),
+ }
+ }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub enum TimeUnits {
+ Second, // s
+ Millisecond, // ms
+ Microsecond, // us
+ Nanosecond, // ns
+}
+
+impl TimeUnits {
+ pub fn scale(&self) -> f64 {
+ match self {
+ TimeUnits::Second => 1.0,
+ TimeUnits::Millisecond => 1e-3,
+ TimeUnits::Microsecond => 1e-6,
+ TimeUnits::Nanosecond => 1e-9,
+ }
+ }
+}
+
+impl FromStr for TimeUnits {
+ type Err = ();
+
+ fn from_str(s: &str) -> Result<Self, Self::Err> {
+ match s {
+ "s" => Ok(TimeUnits::Second),
+ "ms" => Ok(TimeUnits::Millisecond),
+ "us" => Ok(TimeUnits::Microsecond),
+ "ns" => Ok(TimeUnits::Nanosecond),
+ _ => Err(()),
+ }
+ }
+}
+
+impl Display for TimeUnits {
+ fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+ match self {
+ TimeUnits::Second => write!(f, "s"),
+ TimeUnits::Millisecond => write!(f, "ms"),
+ TimeUnits::Microsecond => write!(f, "µs"),
+ TimeUnits::Nanosecond => write!(f, "ns"),
+ }
+ }
+}
--
GitLab
From d8da28f32d767b15e1c53af5c6f021e63acb27c3 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 16 Mar 2025 21:11:42 +0100
Subject: [PATCH 6/8] CHECKPOINT
---
src/mavlink/reflection.rs | 29 +++++-
src/ui/panes/plot.rs | 156 ++++++++++-------------------
src/ui/panes/plot/source_window.rs | 42 +++++---
3 files changed, 108 insertions(+), 119 deletions(-)
diff --git a/src/mavlink/reflection.rs b/src/mavlink/reflection.rs
index c766536..e3ed70e 100644
--- a/src/mavlink/reflection.rs
+++ b/src/mavlink/reflection.rs
@@ -7,9 +7,10 @@
use std::collections::HashMap;
use mavlink_bindgen::parser::{MavProfile, MavType};
+use serde::ser::SerializeStruct;
use skyward_mavlink::mavlink::Message;
-use crate::error::ErrInstrument;
+use crate::{MAVLINK_PROFILE, error::ErrInstrument};
use super::MAVLINK_PROFILE_SERIALIZED;
@@ -267,6 +268,32 @@ impl PartialEq for IndexedField {
}
}
+impl serde::Serialize for IndexedField {
+ fn serialize<S: serde::Serializer>(&self, serializer: S) -> Result<S::Ok, S::Error> {
+ let mut state = serializer.serialize_struct("IndexedField", 3)?;
+ state.serialize_field("id", &self.id)?;
+ state.serialize_field("msg_id", &self.msg.id)?;
+ state.end()
+ }
+}
+
+impl<'de> serde::Deserialize<'de> for IndexedField {
+ fn deserialize<D: serde::Deserializer<'de>>(deserializer: D) -> Result<Self, D::Error> {
+ #[derive(serde::Deserialize)]
+ struct IndexedFieldDe {
+ id: usize,
+ msg_id: u32,
+ }
+
+ let de = IndexedFieldDe::deserialize(deserializer)?;
+ let field = de
+ .id
+ .to_mav_field(de.msg_id, &MAVLINK_PROFILE)
+ .map_err(|u| serde::de::Error::custom(format!("Invalid field: {}", u)))?;
+ Ok(field)
+ }
+}
+
pub trait MessageLike {
fn to_mav_message(
&self,
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
index 7159a19..c778a69 100644
--- a/src/ui/panes/plot.rs
+++ b/src/ui/panes/plot.rs
@@ -19,6 +19,7 @@ use source_window::sources_window;
use std::{
hash::{DefaultHasher, Hash, Hasher},
iter::zip,
+ time::{Duration, Instant},
};
#[derive(Clone, Default, Debug, Serialize, Deserialize)]
@@ -26,7 +27,7 @@ pub struct Plot2DPane {
settings: PlotSettings,
// UI settings
#[serde(skip)]
- line_data: Vec<Vec<PlotPoint>>,
+ line_data: Vec<TimeAwarePlotPoints>,
#[serde(skip)]
state_valid: bool,
#[serde(skip)]
@@ -149,7 +150,9 @@ impl PaneBehavior for Plot2DPane {
response.set_drag_started();
}
- for ((field, settings), points) in zip(self.settings.plot_lines(), &self.line_data) {
+ for ((field, settings), TimeAwarePlotPoints { points, .. }) in
+ zip(&self.settings.y_fields, &self.line_data)
+ {
plot_ui.line(
Line::new(&points[..])
.color(settings.color)
@@ -188,9 +191,17 @@ impl PaneBehavior for Plot2DPane {
}
let PlotSettings {
- x_field, y_fields, ..
+ x_field,
+ y_fields,
+ points_lifespan,
+ ..
} = &self.settings;
+ // purge old data
+ for line in &mut self.line_data {
+ line.purge_old(*points_lifespan);
+ }
+
for msg in messages {
let x: f64 = x_field.extract_as_f64(&msg.message).log_unwrap();
let ys: Vec<f64> = y_fields
@@ -199,11 +210,11 @@ impl PaneBehavior for Plot2DPane {
.collect();
if self.line_data.len() < ys.len() {
- self.line_data.resize(ys.len(), Vec::new());
+ self.line_data.resize(ys.len(), TimeAwarePlotPoints::new());
}
- for (line, y) in zip(&mut self.line_data, ys) {
- line.push(PlotPoint::new(x, y));
+ for (points, y) in zip(&mut self.line_data, ys) {
+ points.push(msg.time, PlotPoint::new(x, y));
}
}
@@ -230,51 +241,21 @@ fn show_menu(ui: &mut egui::Ui, settings_visible: &mut bool, settings: &mut Plot
ui.checkbox(&mut settings.axes_visible, "Show Axes");
}
-#[derive(Clone, Debug, PartialEq)]
+#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
struct PlotSettings {
- plot_message_id: u32,
- x_field: IndexedField,
- y_fields: Vec<(IndexedField, LineSettings)>,
- axes_visible: bool,
+ /// The message id to plot
+ pub(super) plot_message_id: u32,
+ /// The field to plot on the x-axis
+ pub(super) x_field: IndexedField,
+ /// The fields to plot, with their respective line settings
+ pub(super) y_fields: Vec<(IndexedField, LineSettings)>,
+ /// Whether to show the axes of the plot
+ pub(super) axes_visible: bool,
+ /// Points will be shown for this duration before being removed
+ pub(super) points_lifespan: Duration,
}
impl PlotSettings {
- fn plot_lines(&self) -> &[(IndexedField, LineSettings)] {
- &self.y_fields
- }
-
- fn fields_empty(&self) -> bool {
- self.y_fields.is_empty()
- }
-
- fn get_msg_id(&self) -> u32 {
- self.plot_message_id
- }
-
- fn get_x_field(&self) -> &IndexedField {
- &self.x_field
- }
-
- fn get_mut_x_field(&mut self) -> &mut IndexedField {
- &mut self.x_field
- }
-
- fn get_mut_y_fields(&mut self) -> &mut [(IndexedField, LineSettings)] {
- &mut self.y_fields[..]
- }
-
- fn set_x_field(&mut self, field: IndexedField) {
- self.x_field = field;
- }
-
- fn fields_len(&self) -> usize {
- self.y_fields.len()
- }
-
- fn contains_field(&self, field: &IndexedField) -> bool {
- self.y_fields.iter().any(|(f, _)| f == field)
- }
-
fn add_field(&mut self, field: IndexedField) {
let line_settings = LineSettings::default();
self.y_fields.push((field, line_settings));
@@ -310,6 +291,7 @@ impl Default for PlotSettings {
x_field,
y_fields,
axes_visible: true,
+ points_lifespan: Duration::from_secs(600),
}
}
}
@@ -336,69 +318,33 @@ impl Hash for LineSettings {
}
}
-mod plot_serde {
- use serde::{Deserialize, Serialize};
-
- use super::*;
-
- #[derive(Serialize, Deserialize)]
- struct FieldSettings {
- field: usize,
- settings: LineSettings,
- }
+#[derive(Clone, Debug)]
+struct TimeAwarePlotPoints {
+ times: Vec<Instant>,
+ points: Vec<PlotPoint>,
+}
- #[derive(Serialize, Deserialize)]
- struct PlotSettingsData {
- msg_id: u32,
- x_field: usize,
- y_fields: Vec<FieldSettings>,
- axes_visible: bool,
+impl TimeAwarePlotPoints {
+ fn new() -> Self {
+ Self {
+ times: Vec::new(),
+ points: Vec::new(),
+ }
}
- impl Serialize for PlotSettings {
- fn serialize<S: serde::Serializer>(&self, serializer: S) -> Result<S::Ok, S::Error> {
- let data = PlotSettingsData {
- msg_id: self.plot_message_id,
- x_field: self.x_field.id(),
- y_fields: self
- .y_fields
- .iter()
- .map(|(field, settings)| FieldSettings {
- field: field.id(),
- settings: settings.clone(),
- })
- .collect(),
- axes_visible: self.axes_visible,
- };
- data.serialize(serializer)
- }
+ fn push(&mut self, time: Instant, point: PlotPoint) {
+ self.times.push(time);
+ self.points.push(point);
}
- impl<'de> Deserialize<'de> for PlotSettings {
- fn deserialize<D: serde::Deserializer<'de>>(deserializer: D) -> Result<Self, D::Error> {
- let data = PlotSettingsData::deserialize(deserializer)?;
- let x_field = data
- .x_field
- .to_mav_field(data.msg_id, &MAVLINK_PROFILE)
- .log_unwrap();
- let y_fields = data
- .y_fields
- .into_iter()
- .map(|FieldSettings { field, settings }| {
- (
- field
- .to_mav_field(data.msg_id, &MAVLINK_PROFILE)
- .log_unwrap(),
- settings,
- )
- })
- .collect();
- Ok(Self {
- plot_message_id: data.msg_id,
- x_field,
- y_fields,
- axes_visible: data.axes_visible,
- })
+ fn purge_old(&mut self, lifespan: Duration) {
+ while let Some(time) = self.times.first().copied() {
+ if time.elapsed() > lifespan {
+ self.times.remove(0);
+ self.points.remove(0);
+ } else {
+ break;
+ }
}
}
}
diff --git a/src/ui/panes/plot/source_window.rs b/src/ui/panes/plot/source_window.rs
index 61ca3c7..a62d1f9 100644
--- a/src/ui/panes/plot/source_window.rs
+++ b/src/ui/panes/plot/source_window.rs
@@ -1,13 +1,30 @@
-use crate::MAVLINK_PROFILE;
+use std::time::Duration;
-use crate::error::ErrInstrument;
+use crate::{MAVLINK_PROFILE, error::ErrInstrument};
use super::{LineSettings, PlotSettings};
#[profiling::function]
pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
- let data_settings_digest = plot_settings.data_digest();
+ // select how many points are shown on the plot
+ let mut points_lifespan_sec = plot_settings.points_lifespan.as_secs();
+ ui.horizontal(|ui| {
+ let res1 = ui.add(egui::Label::new("Points Lifespan: "));
+ let res2 = ui.add(
+ egui::DragValue::new(&mut points_lifespan_sec)
+ .range(5..=1800)
+ .speed(1)
+ .suffix(" seconds"),
+ );
+ res1.union(res2)
+ })
+ .inner
+ .on_hover_text("How long the data is shown on the plot");
+ plot_settings.points_lifespan = Duration::from_secs(points_lifespan_sec);
+
+ ui.add_sized([250., 10.], egui::Separator::default());
+ let data_settings_digest = plot_settings.data_digest();
// extract the msg name from the id to show it in the combo box
let msg_name = MAVLINK_PROFILE
.get_msg(plot_settings.plot_message_id)
@@ -30,10 +47,10 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
// check fields and assign a default field_x and field_y once the msg is changed
let fields = MAVLINK_PROFILE
- .get_plottable_fields(plot_settings.get_msg_id())
+ .get_plottable_fields(plot_settings.plot_message_id)
.log_expect("Invalid message 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 x_field = &plot_settings.x_field;
let new_field_x = fields
.iter()
.any(|f| f == x_field)
@@ -46,10 +63,10 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
return;
};
// update the field_x
- plot_settings.set_x_field(new_field_x);
- let x_field = plot_settings.get_mut_x_field();
+ plot_settings.x_field = new_field_x;
// if fields are valid, show the combo boxes for the x_axis
+ let x_field = &mut plot_settings.x_field;
egui::ComboBox::from_label("X Axis")
.selected_text(&x_field.field().name)
.show_ui(ui, |ui| {
@@ -59,19 +76,17 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
});
// 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 {
+ if plot_settings.y_fields.is_empty() && fields.len() > 1 {
plot_settings.add_field(fields[1].to_owned());
}
// check how many fields are left and how many are selected
- let plot_lines_len = plot_settings.fields_len();
+ let plot_lines_len = plot_settings.y_fields.len();
egui::Grid::new(ui.auto_id_with("y_axis"))
.num_columns(3)
.spacing([10.0, 2.5])
.show(ui, |ui| {
- for (i, (field, line_settings)) in
- plot_settings.get_mut_y_fields().iter_mut().enumerate()
- {
+ for (i, (field, line_settings)) in plot_settings.y_fields[..].iter_mut().enumerate() {
let LineSettings { width, color } = line_settings;
let widget_label = if plot_lines_len > 1 {
format!("Y Axis {}", i + 1)
@@ -104,9 +119,10 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
.on_hover_text("Add another Y axis")
.clicked()
{
+ // get the first field that is not in the plot_lines
let next_field = fields
.iter()
- .find(|f| !plot_settings.contains_field(f))
+ .find(|field| !plot_settings.y_fields.iter().any(|(f, _)| f == *field))
.log_unwrap();
plot_settings.add_field(next_field.to_owned());
}
--
GitLab
From 4a925e383fe5c9ddb5363e75c1416feb163265e7 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 16 Mar 2025 21:35:18 +0100
Subject: [PATCH 7/8] completed refactor of plot
---
src/ui/panes/plot.rs | 25 +++++++++++++++++--------
1 file changed, 17 insertions(+), 8 deletions(-)
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
index c778a69..4a98372 100644
--- a/src/ui/panes/plot.rs
+++ b/src/ui/panes/plot.rs
@@ -11,7 +11,7 @@ use crate::{
ui::app::PaneResponse,
utils::units::UnitOfMeasure,
};
-use egui::{Color32, Vec2b};
+use egui::{Color32, Vec2, Vec2b};
use egui_plot::{AxisHints, HPlacement, Legend, Line, PlotPoint, log_grid_spacer};
use egui_tiles::TileId;
use serde::{self, Deserialize, Serialize};
@@ -135,6 +135,7 @@ impl PaneBehavior for Plot2DPane {
let mut plot = egui_plot::Plot::new("plot")
.x_grid_spacer(log_grid_spacer(4)) // 4 was an arbitrary choice
.auto_bounds(Vec2b::TRUE)
+ .set_margin_fraction(Vec2::splat(0.))
.legend(Legend::default())
.label_formatter(cursor_formatter);
@@ -197,12 +198,11 @@ impl PaneBehavior for Plot2DPane {
..
} = &self.settings;
- // purge old data
- for line in &mut self.line_data {
- line.purge_old(*points_lifespan);
- }
-
- for msg in messages {
+ // iter on filtered messages based on lifespan set
+ for msg in messages
+ .iter()
+ .filter(|msg| points_lifespan > &msg.time.elapsed())
+ {
let x: f64 = x_field.extract_as_f64(&msg.message).log_unwrap();
let ys: Vec<f64> = y_fields
.iter()
@@ -218,6 +218,11 @@ impl PaneBehavior for Plot2DPane {
}
}
+ // clear points older than lifespan set
+ for line in &mut self.line_data {
+ line.clear_older_than(*points_lifespan);
+ }
+
self.state_valid = true;
}
@@ -268,12 +273,16 @@ impl PlotSettings {
self.y_fields.clear();
}
+ /// Returns a digest of the data settings, used to check if the settings
+ /// have changed IMPORTANT: To trigger a redraw, hash the settings that need
+ /// to redraw the plot here
fn data_digest(&self) -> u64 {
let mut hasher = DefaultHasher::new();
self.x_field.hash(&mut hasher);
for (field, _) in &self.y_fields {
field.hash(&mut hasher);
}
+ self.points_lifespan.as_secs().hash(&mut hasher);
hasher.finish()
}
}
@@ -337,7 +346,7 @@ impl TimeAwarePlotPoints {
self.points.push(point);
}
- fn purge_old(&mut self, lifespan: Duration) {
+ fn clear_older_than(&mut self, lifespan: Duration) {
while let Some(time) = self.times.first().copied() {
if time.elapsed() > lifespan {
self.times.remove(0);
--
GitLab
From 0f275618d384d457ab3c5d37e0b00bc4d3c6fe8c Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 16 Mar 2025 21:47:05 +0100
Subject: [PATCH 8/8] minor
---
src/utils/ring_buffer.rs | 2 --
1 file changed, 2 deletions(-)
diff --git a/src/utils/ring_buffer.rs b/src/utils/ring_buffer.rs
index c25df11..5f6ee57 100644
--- a/src/utils/ring_buffer.rs
+++ b/src/utils/ring_buffer.rs
@@ -1,5 +1,3 @@
-
-
#[derive(Debug)]
pub struct RingBuffer<const G: usize> {
buffer: Box<[u8; G]>,
--
GitLab