From ea6a7075954b50595d2b38834beddecabf281f07 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Thu, 14 Nov 2024 18:50:48 +0100
Subject: [PATCH 01/17] [ui] Added utils.rs with vertical_centering helper
function with double pass
---
Cargo.lock | 70 ++++++++++++++++++++---------------------
justfile | 11 +++++++
src/ui/panes/default.rs | 66 +++++++++++++++-----------------------
src/ui/utils.rs | 31 +++++++++++++++++-
4 files changed, 101 insertions(+), 77 deletions(-)
create mode 100644 justfile
diff --git a/Cargo.lock b/Cargo.lock
index a6a4c77..844231a 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1,6 +1,6 @@
# This file is automatically @generated by Cargo.
# It is not intended for manual editing.
-version = 3
+version = 4
[[package]]
name = "ab_glyph"
@@ -143,9 +143,9 @@ dependencies = [
[[package]]
name = "allocator-api2"
-version = "0.2.18"
+version = "0.2.20"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c6cb57a04249c6480766f7f7cef5467412af1490f8d1e243141daddada3264f"
+checksum = "45862d1c77f2228b9e10bc609d5bc203d86ebc9b87ad8d5d5167a6c9abf739d9"
[[package]]
name = "android-activity"
@@ -324,9 +324,9 @@ dependencies = [
[[package]]
name = "async-io"
-version = "2.3.4"
+version = "2.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "444b0228950ee6501b3568d3c93bf1176a1fdbc3b758dcd9475046d30f4dc7e8"
+checksum = "43a2b323ccce0a1d90b449fd71f2a06ca7faa7c54c2751f06c9bd851fc061059"
dependencies = [
"async-lock",
"cfg-if",
@@ -625,9 +625,9 @@ dependencies = [
[[package]]
name = "cc"
-version = "1.1.36"
+version = "1.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "baee610e9452a8f6f0a1b6194ec09ff9e2d85dea54432acdae41aa0761c95d70"
+checksum = "fd9de9f2205d5ef3fd67e685b0df337994ddd4495e2a28d185500d0e1edfea47"
dependencies = [
"jobserver",
"libc",
@@ -794,9 +794,9 @@ dependencies = [
[[package]]
name = "cpufeatures"
-version = "0.2.14"
+version = "0.2.15"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "608697df725056feaccfa42cffdaeeec3fccc4ffc38358ecd19b243e716a78e0"
+checksum = "0ca741a962e1b0bff6d724a1a0958b686406e853bb14061f218562e1896f95e6"
dependencies = [
"libc",
]
@@ -1234,9 +1234,9 @@ dependencies = [
[[package]]
name = "fastrand"
-version = "2.1.1"
+version = "2.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e8c02a5121d4ea3eb16a80748c74f5549a5665e4c21333c6098f283870fbdea6"
+checksum = "486f806e73c5707928240ddc295403b1b93c96a02038563881c4a2fd84b81ac4"
[[package]]
name = "fdeflate"
@@ -1249,9 +1249,9 @@ dependencies = [
[[package]]
name = "flate2"
-version = "1.0.34"
+version = "1.0.35"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1b589b4dc103969ad3cf85c950899926ec64300a1a46d76c03a6072957036f0"
+checksum = "c936bfdafb507ebbf50b8074c54fa31c5be9a1e7e5f467dd659697041407d07c"
dependencies = [
"crc32fast",
"miniz_oxide",
@@ -1307,9 +1307,9 @@ checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
[[package]]
name = "futures-lite"
-version = "2.4.0"
+version = "2.5.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f1fa2f9765705486b33fd2acf1577f8ec449c2ba1f318ae5447697b7c08d210"
+checksum = "cef40d21ae2c515b51041df9ed313ed21e572df340ea58a922a0aefe7e8891a1"
dependencies = [
"fastrand",
"futures-core",
@@ -1856,9 +1856,9 @@ checksum = "e2db585e1d738fc771bf08a151420d3ed193d9d895a36df7f6f8a9456b911ddc"
[[package]]
name = "libc"
-version = "0.2.161"
+version = "0.2.162"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e9489c2807c139ffd9c1794f4af0ebe86a828db53ecdc7fea2111d0fed085d1"
+checksum = "18d287de67fe55fd7e1581fe933d965a5a9477b38e949cfa9f8574ef01506398"
[[package]]
name = "libloading"
@@ -2449,9 +2449,9 @@ dependencies = [
[[package]]
name = "polling"
-version = "3.7.3"
+version = "3.7.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cc2790cd301dec6cd3b7a025e4815cf825724a51c98dccfe6a3e55f05ffb6511"
+checksum = "a604568c3202727d1507653cb121dbd627a58684eb09a820fd746bee38b4442f"
dependencies = [
"cfg-if",
"concurrent-queue",
@@ -2597,9 +2597,9 @@ dependencies = [
[[package]]
name = "regex-automata"
-version = "0.4.8"
+version = "0.4.9"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "368758f23274712b504848e9d5a6f010445cc8b87a7cdb4d7cbee666c1288da3"
+checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
dependencies = [
"aho-corasick",
"memchr",
@@ -2638,9 +2638,9 @@ checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
[[package]]
name = "rustix"
-version = "0.38.39"
+version = "0.38.40"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "375116bee2be9ed569afe2154ea6a99dfdffd257f533f187498c2a8f5feaf4ee"
+checksum = "99e4ea3e1cdc4b559b8e5650f9c8e5998e3e5c1343b4eaf034565f32318d63c0"
dependencies = [
"bitflags 2.6.0",
"errno",
@@ -2708,18 +2708,18 @@ dependencies = [
[[package]]
name = "serde"
-version = "1.0.214"
+version = "1.0.215"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f55c3193aca71c12ad7890f1785d2b73e1b9f63a0bbc353c08ef26fe03fc56b5"
+checksum = "6513c1ad0b11a9376da888e3e0baa0077f1aed55c17f50e7b2397136129fb88f"
dependencies = [
"serde_derive",
]
[[package]]
name = "serde_derive"
-version = "1.0.214"
+version = "1.0.215"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de523f781f095e28fa605cdce0f8307e451cc0fd14e2eb4cd2e98a355b147766"
+checksum = "ad1e866f866923f252f05c889987993144fb74e722403468a4ebd70c3cd756c0"
dependencies = [
"proc-macro2",
"quote",
@@ -2728,9 +2728,9 @@ dependencies = [
[[package]]
name = "serde_json"
-version = "1.0.132"
+version = "1.0.133"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d726bfaff4b320266d395898905d0eba0345aae23b54aee3a737e260fd46db03"
+checksum = "c7fceb2473b9166b2294ef05efcb65a3db80803f0b03ef86a5fc88a2b85ee377"
dependencies = [
"itoa",
"memchr",
@@ -2912,9 +2912,9 @@ dependencies = [
[[package]]
name = "tempfile"
-version = "3.13.0"
+version = "3.14.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0f2c9fc62d0beef6951ccffd757e241266a2c833136efbe35af6cd2567dca5b"
+checksum = "28cce251fcbc87fac86a866eeb0d6c2d536fc16d06f184bb61aeae11aa4cee0c"
dependencies = [
"cfg-if",
"fastrand",
@@ -2934,18 +2934,18 @@ dependencies = [
[[package]]
name = "thiserror"
-version = "1.0.68"
+version = "1.0.69"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02dd99dc800bbb97186339685293e1cc5d9df1f8fae2d0aecd9ff1c77efea892"
+checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
dependencies = [
"thiserror-impl",
]
[[package]]
name = "thiserror-impl"
-version = "1.0.68"
+version = "1.0.69"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7c61ec9a6f64d2793d8a45faba21efbe3ced62a886d44c36a009b2b519b4c7e"
+checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1"
dependencies = [
"proc-macro2",
"quote",
diff --git a/justfile b/justfile
new file mode 100644
index 0000000..613e908
--- /dev/null
+++ b/justfile
@@ -0,0 +1,11 @@
+alias r := run
+alias d := doc
+
+default:
+ just run
+
+run LEVEL="debug":
+ RUST_LOG=segs={{LEVEL}} cargo r
+
+doc:
+ cargo doc --no-deps --open
diff --git a/src/ui/panes/default.rs b/src/ui/panes/default.rs
index 2d1b51a..26eb63c 100644
--- a/src/ui/panes/default.rs
+++ b/src/ui/panes/default.rs
@@ -1,13 +1,17 @@
use super::{plot_2d::Plot2DPane, Pane, PaneBehavior, PaneKind};
use serde::{Deserialize, Serialize};
-use crate::ui::composable_view::{PaneAction, PaneResponse};
+use crate::ui::{
+ composable_view::{PaneAction, PaneResponse},
+ utils::{vertically_centered, SizingMemo},
+};
#[derive(Clone, Debug, Serialize, Deserialize)]
pub struct DefaultPane {
occupied: f32,
fixed: bool,
-
+ #[serde(skip)]
+ centering_memo: SizingMemo,
#[serde(skip)]
contains_pointer: bool,
}
@@ -15,8 +19,7 @@ pub struct DefaultPane {
impl Default for DefaultPane {
fn default() -> Self {
DefaultPane {
- occupied: 0.0,
- fixed: false,
+ centering_memo: SizingMemo::default(),
contains_pointer: false,
}
}
@@ -31,48 +34,29 @@ impl PartialEq for DefaultPane {
impl PaneBehavior for DefaultPane {
fn ui(&mut self, ui: &mut egui::Ui) -> PaneResponse {
let mut response = PaneResponse::default();
- let pane_rect = ui.max_rect();
- let parent = ui.vertical_centered(|ui| {
- let hpad = (pane_rect.height() - self.occupied) / 2.0;
- if self.fixed {
- ui.add_space(hpad);
- }
- let mut height_occupied = 0.0;
- let btn = ui.button("Vertical Split");
- if btn.clicked() {
- response.set_action(PaneAction::SplitV);
- log::debug!("Vertical Split button clicked");
- }
- height_occupied += btn.rect.height();
- let btn = ui.button("Horizontal Split");
- if btn.clicked() {
- response.set_action(PaneAction::SplitH);
- log::debug!("Horizontal Split button clicked");
- }
- height_occupied += btn.rect.height();
- let btn = ui.button("Plot");
- if btn.clicked() {
- response.set_action(PaneAction::Replace(Pane::boxed(PaneKind::Plot2D(
- Plot2DPane::default(),
- ))));
- }
- height_occupied += btn.rect.height();
- if !self.fixed {
- self.occupied = height_occupied;
- ui.ctx().request_discard("test");
- self.fixed = true;
- }
- if self.fixed {
- ui.add_space(hpad);
- }
- ui.set_min_height(pane_rect.height());
+ let parent = vertically_centered(ui, &mut self.centering_memo, |ui| {
+ ui.vertical_centered(|ui| {
+ if ui.button("Vertical Split").clicked() {
+ response.set_action(PaneAction::SplitV);
+ log::debug!("Vertical Split button clicked");
+ }
+ if ui.button("Horizontal Split").clicked() {
+ response.set_action(PaneAction::SplitH);
+ log::debug!("Horizontal Split button clicked");
+ }
+ if ui.button("Plot").clicked() {
+ response.set_action(PaneAction::Replace(Pane::boxed(PaneKind::Plot2D(
+ Plot2DPane::default(),
+ ))));
+ }
+ })
+ .response
});
- self.contains_pointer = parent.response.contains_pointer();
+ self.contains_pointer = parent.contains_pointer();
if parent
- .response
.interact(egui::Sense::click_and_drag())
.on_hover_cursor(egui::CursorIcon::Grab)
.dragged()
diff --git a/src/ui/utils.rs b/src/ui/utils.rs
index b9f510b..3172463 100644
--- a/src/ui/utils.rs
+++ b/src/ui/utils.rs
@@ -1,5 +1,5 @@
use egui::containers::Frame;
-use egui::{Shadow, Stroke, Style, Ui};
+use egui::{Response, Shadow, Stroke, Style, Ui};
use super::panes::{Pane, PaneBehavior};
@@ -12,3 +12,32 @@ pub fn maximized_pane_ui(ui: &mut Ui, pane: &mut Pane) {
.stroke(Stroke::NONE)
.show(ui, |ui| pane.ui(ui));
}
+
+#[derive(Debug, Default, Clone)]
+pub struct SizingMemo {
+ occupied_height: f32,
+ sizing_pass_done: bool,
+}
+
+pub fn vertically_centered(
+ ui: &mut Ui,
+ memo: &mut SizingMemo,
+ add_contents: impl FnOnce(&mut Ui) -> Response,
+) -> egui::Response {
+ if !memo.sizing_pass_done {
+ let r = add_contents(ui);
+ memo.occupied_height = r.rect.height();
+ memo.sizing_pass_done = true;
+ ui.ctx()
+ .request_discard("horizontally_centered requires a sizing pass");
+ r
+ } else {
+ let spacing = (ui.available_height() - memo.occupied_height) / 2.0;
+ ui.vertical_centered(|ui| {
+ ui.add_space(spacing);
+ add_contents(ui);
+ ui.add_space(spacing);
+ })
+ .response
+ }
+}
--
GitLab
From 10c1268ac4aaaf8d8fbcfd554f843dcd8b781d39 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Thu, 14 Nov 2024 19:31:07 +0100
Subject: [PATCH 02/17] [Cargo] Added Tokio and moved log to tracing
---
Cargo.lock | 257 +++++++++++++++++++++++++---------------
Cargo.toml | 6 +-
src/main.rs | 10 +-
src/ui/panes/default.rs | 5 +-
4 files changed, 175 insertions(+), 103 deletions(-)
diff --git a/Cargo.lock b/Cargo.lock
index 844231a..7c49f2a 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -112,6 +112,15 @@ dependencies = [
"winit",
]
+[[package]]
+name = "addr2line"
+version = "0.24.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dfbe277e56a376000877090da837660b4427aad530e3028d44e0bffe4f89a1c1"
+dependencies = [
+ "gimli",
+]
+
[[package]]
name = "adler2"
version = "2.0.0"
@@ -183,55 +192,6 @@ dependencies = [
"libc",
]
-[[package]]
-name = "anstream"
-version = "0.6.18"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8acc5369981196006228e28809f761875c0327210a891e941f4c683b3a99529b"
-dependencies = [
- "anstyle",
- "anstyle-parse",
- "anstyle-query",
- "anstyle-wincon",
- "colorchoice",
- "is_terminal_polyfill",
- "utf8parse",
-]
-
-[[package]]
-name = "anstyle"
-version = "1.0.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "55cc3b69f167a1ef2e161439aa98aed94e6028e5f9a59be9a6ffb47aef1651f9"
-
-[[package]]
-name = "anstyle-parse"
-version = "0.2.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b2d16507662817a6a20a9ea92df6652ee4f94f914589377d69f3b21bc5798a9"
-dependencies = [
- "utf8parse",
-]
-
-[[package]]
-name = "anstyle-query"
-version = "1.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "79947af37f4177cfead1110013d678905c37501914fba0efea834c3fe9a8d60c"
-dependencies = [
- "windows-sys 0.59.0",
-]
-
-[[package]]
-name = "anstyle-wincon"
-version = "3.0.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2109dbce0e72be3ec00bed26e6a7479ca384ad226efdd66db8fa2e3a38c83125"
-dependencies = [
- "anstyle",
- "windows-sys 0.59.0",
-]
-
[[package]]
name = "arboard"
version = "3.4.1"
@@ -480,6 +440,21 @@ version = "1.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
+[[package]]
+name = "backtrace"
+version = "0.3.74"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8d82cb332cdfaed17ae235a638438ac4d4839913cc2af585c3c6746e8f8bee1a"
+dependencies = [
+ "addr2line",
+ "cfg-if",
+ "libc",
+ "miniz_oxide",
+ "object",
+ "rustc-demangle",
+ "windows-targets 0.52.6",
+]
+
[[package]]
name = "base64"
version = "0.21.7"
@@ -686,12 +661,6 @@ dependencies = [
"unicode-width",
]
-[[package]]
-name = "colorchoice"
-version = "1.0.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b63caa9aa9397e2d9480a9b13673856c78d8ac123288526c37d7839f2a86990"
-
[[package]]
name = "com"
version = "0.6.0"
@@ -1142,29 +1111,6 @@ dependencies = [
"syn 2.0.87",
]
-[[package]]
-name = "env_filter"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4f2c92ceda6ceec50f43169f9ee8424fe2db276791afde7b2cd8bc084cb376ab"
-dependencies = [
- "log",
- "regex",
-]
-
-[[package]]
-name = "env_logger"
-version = "0.11.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e13fa619b91fb2381732789fc5de83b45675e882f66623b7d8cb4f643017018d"
-dependencies = [
- "anstream",
- "anstyle",
- "env_filter",
- "humantime",
- "log",
-]
-
[[package]]
name = "epaint"
version = "0.29.1"
@@ -1389,6 +1335,12 @@ dependencies = [
"wasi",
]
+[[package]]
+name = "gimli"
+version = "0.31.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "07e28edb80900c19c28f1072f2e8aeca7fa06b23cd4169cefe1af5aa3260783f"
+
[[package]]
name = "gl_generator"
version = "0.14.0"
@@ -1600,12 +1552,6 @@ dependencies = [
"windows-sys 0.52.0",
]
-[[package]]
-name = "humantime"
-version = "2.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
-
[[package]]
name = "icu_collections"
version = "1.5.0"
@@ -1776,12 +1722,6 @@ dependencies = [
"hashbrown 0.15.1",
]
-[[package]]
-name = "is_terminal_polyfill"
-version = "1.70.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7943c866cc5cd64cbc25b2e01621d07fa8eb2a1a23160ee81ce38704e97b8ecf"
-
[[package]]
name = "itertools"
version = "0.13.0"
@@ -1854,6 +1794,12 @@ version = "3.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e2db585e1d738fc771bf08a151420d3ed193d9d895a36df7f6f8a9456b911ddc"
+[[package]]
+name = "lazy_static"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
+
[[package]]
name = "libc"
version = "0.2.162"
@@ -1924,6 +1870,15 @@ dependencies = [
"libc",
]
+[[package]]
+name = "matchers"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8263075bb86c5a1b1427b5ae862e8889656f126e9f77c484496e8b47cf5c5558"
+dependencies = [
+ "regex-automata 0.1.10",
+]
+
[[package]]
name = "memchr"
version = "2.7.4"
@@ -2068,6 +2023,16 @@ version = "0.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2bf50223579dc7cdcfb3bfcacf7069ff68243f8c363f62ffa99cf000a6b9c451"
+[[package]]
+name = "nu-ansi-term"
+version = "0.46.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77a8165726e8236064dbb45459242600304b42a5ea24ee2948e18e023bf7ba84"
+dependencies = [
+ "overload",
+ "winapi",
+]
+
[[package]]
name = "num-traits"
version = "0.2.19"
@@ -2310,6 +2275,15 @@ dependencies = [
"objc2-foundation",
]
+[[package]]
+name = "object"
+version = "0.36.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aedf0a2d09c573ed1d8d85b30c119153926a2b36dce0ab28322c09a117a4683e"
+dependencies = [
+ "memchr",
+]
+
[[package]]
name = "once_cell"
version = "1.20.2"
@@ -2335,6 +2309,12 @@ dependencies = [
"pin-project-lite",
]
+[[package]]
+name = "overload"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
+
[[package]]
name = "owned_ttf_parser"
version = "0.25.0"
@@ -2591,8 +2571,17 @@ checksum = "b544ef1b4eac5dc2db33ea63606ae9ffcfac26c1416a2806ae0bf5f56b201191"
dependencies = [
"aho-corasick",
"memchr",
- "regex-automata",
- "regex-syntax",
+ "regex-automata 0.4.9",
+ "regex-syntax 0.8.5",
+]
+
+[[package]]
+name = "regex-automata"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c230d73fb8d8c1b9c0b3135c5142a8acee3a0558fb8db5cf1cb65f8d7862132"
+dependencies = [
+ "regex-syntax 0.6.29",
]
[[package]]
@@ -2603,9 +2592,15 @@ checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
dependencies = [
"aho-corasick",
"memchr",
- "regex-syntax",
+ "regex-syntax 0.8.5",
]
+[[package]]
+name = "regex-syntax"
+version = "0.6.29"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
+
[[package]]
name = "regex-syntax"
version = "0.8.5"
@@ -2630,6 +2625,12 @@ dependencies = [
"serde_derive",
]
+[[package]]
+name = "rustc-demangle"
+version = "0.1.24"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"
+
[[package]]
name = "rustc-hash"
version = "1.1.0"
@@ -2700,10 +2701,11 @@ dependencies = [
"egui_plot",
"egui_tiles",
"enum_dispatch",
- "env_logger",
- "log",
"serde",
"serde_json",
+ "tokio",
+ "tracing",
+ "tracing-subscriber",
]
[[package]]
@@ -2760,6 +2762,15 @@ dependencies = [
"digest",
]
+[[package]]
+name = "sharded-slab"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f40ca3c46823713e0d4209592e8d6e826aa57e928f09752619fc696c499637f6"
+dependencies = [
+ "lazy_static",
+]
+
[[package]]
name = "shlex"
version = "1.3.0"
@@ -2952,6 +2963,16 @@ dependencies = [
"syn 2.0.87",
]
+[[package]]
+name = "thread_local"
+version = "1.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b9ef9bad013ada3808854ceac7b46812a6465ba368859a37e2100283d2d719c"
+dependencies = [
+ "cfg-if",
+ "once_cell",
+]
+
[[package]]
name = "tiny-skia"
version = "0.11.4"
@@ -2987,6 +3008,16 @@ dependencies = [
"zerovec",
]
+[[package]]
+name = "tokio"
+version = "1.42.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5cec9b21b0450273377fc97bd4c33a8acffc8c996c987a7c5b319a0083707551"
+dependencies = [
+ "backtrace",
+ "pin-project-lite",
+]
+
[[package]]
name = "toml_datetime"
version = "0.6.8"
@@ -3033,6 +3064,36 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
dependencies = [
"once_cell",
+ "valuable",
+]
+
+[[package]]
+name = "tracing-log"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee855f1f400bd0e5c02d150ae5de3840039a3f54b025156404e34c23c03f47c3"
+dependencies = [
+ "log",
+ "once_cell",
+ "tracing-core",
+]
+
+[[package]]
+name = "tracing-subscriber"
+version = "0.3.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ad0f048c97dbd9faa9b7df56362b8ebcaa52adb06b498c050d2f4e32f90a7a8b"
+dependencies = [
+ "matchers",
+ "nu-ansi-term",
+ "once_cell",
+ "regex",
+ "sharded-slab",
+ "smallvec",
+ "thread_local",
+ "tracing",
+ "tracing-core",
+ "tracing-log",
]
[[package]]
@@ -3121,10 +3182,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b6c140620e7ffbb22c2dee59cafe6084a59b5ffc27a8859a5f0d494b5d52b6be"
[[package]]
-name = "utf8parse"
-version = "0.2.2"
+name = "valuable"
+version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
+checksum = "830b7e5d4d90034032940e4ace0d9a9a057e7a45cd94e6c007832e39edb82f6d"
[[package]]
name = "version_check"
diff --git a/Cargo.toml b/Cargo.toml
index 9a6f56e..6748631 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -14,12 +14,14 @@ eframe = { version = "0.29", features = ["persistence"] }
egui = { version = "0.29", features = ["log"] }
egui_plot = "0.29"
egui_file = "0.19"
+# =========== Asynchronous ===========
+tokio = { version = "1.41", features = ["rt-multi-thread"] }
# ========= Persistency =========
serde = { version = "1.0", features = ["derive"] }
serde_json = "1.0"
# =========== Logging ===========
-env_logger = "0.11"
-log = "0.4"
+tracing = "0.1"
+tracing-subscriber = { version = "0.3", features = ["env-filter"] }
# =========== Utility ===========
# for dynamic dispatch
enum_dispatch = "0.3"
diff --git a/src/main.rs b/src/main.rs
index c988cd7..1bab97b 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,3 +1,5 @@
+use tokio::runtime::Runtime;
+use tracing_subscriber::{layer::SubscriberExt, util::SubscriberInitExt, EnvFilter, Layer};
use ui::ComposableView;
mod ui;
@@ -6,7 +8,13 @@ static APP_NAME: &str = "segs";
fn main() -> Result<(), eframe::Error> {
// set up logging (USE RUST_LOG=debug to see logs)
- env_logger::init();
+ let env_filter = EnvFilter::builder().from_env_lossy();
+ tracing_subscriber::registry()
+ .with(tracing_subscriber::fmt::layer().with_filter(env_filter))
+ .init();
+
+ let rt = Runtime::new().expect("Unable to create Runtime");
+ let _enter = rt.enter();
let native_options = eframe::NativeOptions {
// By modifying the viewport, we can change things like the windows size
diff --git a/src/ui/panes/default.rs b/src/ui/panes/default.rs
index 26eb63c..250e35e 100644
--- a/src/ui/panes/default.rs
+++ b/src/ui/panes/default.rs
@@ -1,5 +1,6 @@
use super::{plot_2d::Plot2DPane, Pane, PaneBehavior, PaneKind};
use serde::{Deserialize, Serialize};
+use tracing::debug;
use crate::ui::{
composable_view::{PaneAction, PaneResponse},
@@ -39,11 +40,11 @@ impl PaneBehavior for DefaultPane {
ui.vertical_centered(|ui| {
if ui.button("Vertical Split").clicked() {
response.set_action(PaneAction::SplitV);
- log::debug!("Vertical Split button clicked");
+ debug!("Vertical Split button clicked");
}
if ui.button("Horizontal Split").clicked() {
response.set_action(PaneAction::SplitH);
- log::debug!("Horizontal Split button clicked");
+ debug!("Horizontal Split button clicked");
}
if ui.button("Plot").clicked() {
response.set_action(PaneAction::Replace(Pane::boxed(PaneKind::Plot2D(
--
GitLab
From 174dc881afbd4a25ab287ad16087ef5d5d04665a Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Tue, 19 Nov 2024 01:38:20 +0100
Subject: [PATCH 03/17] [Mavlink] Added Mavlink support in async way
---
Cargo.lock | 213 +++++++++++++++++++++++++++++++++++++-
Cargo.toml | 20 +++-
src/main.rs | 12 ++-
src/mavlink.rs | 128 +++++++++++++++++++++++
src/ui/composable_view.rs | 76 ++++++++++++++
5 files changed, 445 insertions(+), 4 deletions(-)
create mode 100644 src/mavlink.rs
diff --git a/Cargo.lock b/Cargo.lock
index 7c49f2a..6fe75a4 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -192,6 +192,12 @@ dependencies = [
"libc",
]
+[[package]]
+name = "anyhow"
+version = "1.0.93"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4c95c10ba0b00a02636238b814946408b1322d5ac4760326e6fb8ec956d85775"
+
[[package]]
name = "arboard"
version = "3.4.1"
@@ -770,6 +776,12 @@ dependencies = [
"libc",
]
+[[package]]
+name = "crc-any"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a62ec9ff5f7965e4d7280bd5482acd20aadb50d632cf6c1d74493856b011fa73"
+
[[package]]
name = "crc32fast"
version = "1.4.2"
@@ -779,6 +791,15 @@ dependencies = [
"cfg-if",
]
+[[package]]
+name = "crossbeam-channel"
+version = "0.5.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "33480d6946193aa8033910124896ca395333cae7e2d1113d1fef6c3272217df2"
+dependencies = [
+ "crossbeam-utils",
+]
+
[[package]]
name = "crossbeam-utils"
version = "0.8.20"
@@ -1525,6 +1546,18 @@ dependencies = [
"winapi",
]
+[[package]]
+name = "heck"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
+
+[[package]]
+name = "hermit-abi"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
+
[[package]]
name = "hermit-abi"
version = "0.4.0"
@@ -1722,6 +1755,15 @@ dependencies = [
"hashbrown 0.15.1",
]
+[[package]]
+name = "ioctl-rs"
+version = "0.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f7970510895cee30b3e9128319f2cefd4bde883a39f38baa279567ba3a7eb97d"
+dependencies = [
+ "libc",
+]
+
[[package]]
name = "itertools"
version = "0.13.0"
@@ -1879,6 +1921,31 @@ dependencies = [
"regex-automata 0.1.10",
]
+[[package]]
+name = "mavlink-bindgen"
+version = "0.13.2"
+source = "git+https://github.com/federico123579/rust-mavlink.git?branch=strum-integration#02a3eebe16ac1aacb93c2c61696dcd731f6f2ef4"
+dependencies = [
+ "crc-any",
+ "lazy_static",
+ "proc-macro2",
+ "quick-xml 0.36.2",
+ "quote",
+ "thiserror",
+]
+
+[[package]]
+name = "mavlink-core"
+version = "0.13.2"
+source = "git+https://github.com/federico123579/rust-mavlink.git?branch=strum-integration#02a3eebe16ac1aacb93c2c61696dcd731f6f2ef4"
+dependencies = [
+ "byteorder",
+ "crc-any",
+ "serde",
+ "serde_arrays",
+ "serial",
+]
+
[[package]]
name = "memchr"
version = "2.7.4"
@@ -1944,6 +2011,18 @@ dependencies = [
"simd-adler32",
]
+[[package]]
+name = "mio"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "80e04d1dcff3aae0704555fe5fee3bcfaf3d1fdf8a7e521d5b9d2b42acb52cec"
+dependencies = [
+ "hermit-abi 0.3.9",
+ "libc",
+ "wasi",
+ "windows-sys 0.52.0",
+]
+
[[package]]
name = "naga"
version = "22.1.0"
@@ -2033,6 +2112,17 @@ dependencies = [
"winapi",
]
+[[package]]
+name = "num-derive"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.87",
+]
+
[[package]]
name = "num-traits"
version = "0.2.19"
@@ -2435,7 +2525,7 @@ checksum = "a604568c3202727d1507653cb121dbd627a58684eb09a820fd746bee38b4442f"
dependencies = [
"cfg-if",
"concurrent-queue",
- "hermit-abi",
+ "hermit-abi 0.4.0",
"pin-project-lite",
"rustix",
"tracing",
@@ -2650,6 +2740,12 @@ dependencies = [
"windows-sys 0.52.0",
]
+[[package]]
+name = "rustversion"
+version = "1.0.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0e819f2bc632f285be6d7cd36e25940d45b2391dd6d9b939e79de557f7014248"
+
[[package]]
name = "ryu"
version = "1.0.18"
@@ -2694,6 +2790,8 @@ dependencies = [
name = "segs"
version = "0.1.0"
dependencies = [
+ "anyhow",
+ "crossbeam-channel",
"eframe",
"egui",
"egui_extras",
@@ -2701,8 +2799,11 @@ dependencies = [
"egui_plot",
"egui_tiles",
"enum_dispatch",
+ "parking_lot",
"serde",
"serde_json",
+ "skyward_mavlink",
+ "strum",
"tokio",
"tracing",
"tracing-subscriber",
@@ -2717,6 +2818,15 @@ dependencies = [
"serde_derive",
]
+[[package]]
+name = "serde_arrays"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38636132857f68ec3d5f3eb121166d2af33cb55174c4d5ff645db6165cbef0fd"
+dependencies = [
+ "serde",
+]
+
[[package]]
name = "serde_derive"
version = "1.0.215"
@@ -2751,6 +2861,48 @@ dependencies = [
"syn 2.0.87",
]
+[[package]]
+name = "serial"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a1237a96570fc377c13baa1b88c7589ab66edced652e43ffb17088f003db3e86"
+dependencies = [
+ "serial-core",
+ "serial-unix",
+ "serial-windows",
+]
+
+[[package]]
+name = "serial-core"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f46209b345401737ae2125fe5b19a77acce90cd53e1658cda928e4fe9a64581"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "serial-unix"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f03fbca4c9d866e24a459cbca71283f545a37f8e3e002ad8c70593871453cab7"
+dependencies = [
+ "ioctl-rs",
+ "libc",
+ "serial-core",
+ "termios",
+]
+
+[[package]]
+name = "serial-windows"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "15c6d3b776267a75d31bbdfd5d36c0ca051251caafc285827052bc53bcdc8162"
+dependencies = [
+ "libc",
+ "serial-core",
+]
+
[[package]]
name = "sha1"
version = "0.10.6"
@@ -2792,6 +2944,22 @@ version = "0.3.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
+[[package]]
+name = "skyward_mavlink"
+version = "0.1.0"
+source = "git+https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git?branch=rust-strum#5b515ef056e5f783dc1cbc1c73eadd2f08a5652d"
+dependencies = [
+ "bitflags 2.6.0",
+ "mavlink-bindgen",
+ "mavlink-core",
+ "num-derive",
+ "num-traits",
+ "serde",
+ "serde_arrays",
+ "strum",
+ "strum_macros",
+]
+
[[package]]
name = "slab"
version = "0.4.9"
@@ -2861,6 +3029,16 @@ dependencies = [
"serde",
]
+[[package]]
+name = "socket2"
+version = "0.5.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
+dependencies = [
+ "libc",
+ "windows-sys 0.52.0",
+]
+
[[package]]
name = "spirv"
version = "0.3.0+sdk-1.3.268.0"
@@ -2888,6 +3066,25 @@ version = "0.1.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6637bab7722d379c8b41ba849228d680cc12d0a45ba1fa2b48f2a30577a06731"
+[[package]]
+name = "strum"
+version = "0.26.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8fec0f0aef304996cf250b31b5a10dee7980c85da9d759361292b8bca5a18f06"
+
+[[package]]
+name = "strum_macros"
+version = "0.26.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4c6bee85a5a24955dc440386795aa378cd9cf82acd5f764469152d2270e581be"
+dependencies = [
+ "heck",
+ "proc-macro2",
+ "quote",
+ "rustversion",
+ "syn 2.0.87",
+]
+
[[package]]
name = "syn"
version = "1.0.109"
@@ -2943,6 +3140,15 @@ dependencies = [
"winapi-util",
]
+[[package]]
+name = "termios"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d5d9cf598a6d7ce700a4e6a9199da127e6819a61e64b68609683cc9a01b5683a"
+dependencies = [
+ "libc",
+]
+
[[package]]
name = "thiserror"
version = "1.0.69"
@@ -3015,7 +3221,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5cec9b21b0450273377fc97bd4c33a8acffc8c996c987a7c5b319a0083707551"
dependencies = [
"backtrace",
+ "libc",
+ "mio",
+ "parking_lot",
"pin-project-lite",
+ "socket2",
+ "windows-sys 0.52.0",
]
[[package]]
diff --git a/Cargo.toml b/Cargo.toml
index 6748631..6855548 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -14,15 +14,31 @@ eframe = { version = "0.29", features = ["persistence"] }
egui = { version = "0.29", features = ["log"] }
egui_plot = "0.29"
egui_file = "0.19"
-# =========== Asynchronous ===========
-tokio = { version = "1.41", features = ["rt-multi-thread"] }
# ========= Persistency =========
serde = { version = "1.0", features = ["derive"] }
serde_json = "1.0"
# =========== Logging ===========
tracing = "0.1"
tracing-subscriber = { version = "0.3", features = ["env-filter"] }
+# =========== Performance ===========
+# for fast mutexes
+parking_lot = "0.12"
+# for fast channels
+crossbeam-channel = "0.5"
# =========== Utility ===========
# for dynamic dispatch
enum_dispatch = "0.3"
egui_extras = "0.29.1"
+strum = "0.26"
+anyhow = "1.0"
+
+# =========== Asynchronous ===========
+[dependencies.tokio]
+version = "1.41"
+features = ["rt-multi-thread", "net", "parking_lot", "sync"]
+
+# =========== Mavlink ===========
+[dependencies.skyward_mavlink]
+git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git"
+branch = "rust-strum"
+features = ["lyra", "serde", "strum"]
diff --git a/src/main.rs b/src/main.rs
index 1bab97b..9076b22 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,8 +1,15 @@
+mod mavlink;
+mod ui;
+
+use std::sync::OnceLock;
+
+use mavlink::MessageManager;
+use parking_lot::Mutex;
use tokio::runtime::Runtime;
use tracing_subscriber::{layer::SubscriberExt, util::SubscriberInitExt, EnvFilter, Layer};
use ui::ComposableView;
-mod ui;
+static MSG_MANAGER: OnceLock<Mutex<MessageManager>> = OnceLock::new();
static APP_NAME: &str = "segs";
@@ -33,6 +40,9 @@ fn main() -> Result<(), eframe::Error> {
APP_NAME, // This is the app id, used for example by Wayland
native_options,
Box::new(|ctx| {
+ MSG_MANAGER
+ .set(Mutex::new(MessageManager::new(50, ctc.egui_ctx.clone())))
+ .expect("Unable to set MessageManager");
let app = ctx
.storage
.map(|storage| ComposableView::new(APP_NAME, storage))
diff --git a/src/mavlink.rs b/src/mavlink.rs
new file mode 100644
index 0000000..6f04270
--- /dev/null
+++ b/src/mavlink.rs
@@ -0,0 +1,128 @@
+use std::{
+ collections::HashMap,
+ sync::{
+ atomic::{AtomicBool, Ordering},
+ Arc,
+ },
+ time::Instant,
+};
+
+use anyhow::{Context, Result};
+use crossbeam_channel::{Receiver, Sender};
+use skyward_mavlink::{
+ lyra::MavMessage,
+ mavlink::{peek_reader::PeekReader, read_v1_msg, MavHeader, Message},
+};
+use strum::VariantNames;
+use tokio::{net::UdpSocket, task::JoinHandle};
+use tracing::{debug, info};
+
+pub const DEFAULT_ETHERNET_PORT: u16 = 42069;
+const UDP_BUFFER_SIZE: usize = 65527;
+
+#[derive(Debug)]
+pub struct MessageManager {
+ messages: HashMap<u32, Vec<TimedMessage>>,
+ tx: Sender<MavMessage>,
+ rx: Receiver<MavMessage>,
+ ctx: egui::Context,
+ running_flag: Arc<AtomicBool>,
+ task: Option<JoinHandle<Result<()>>>,
+}
+
+impl MessageManager {
+ pub fn new(channel_size: usize, ctx: egui::Context) -> Self {
+ let (tx, rx) = crossbeam_channel::bounded(channel_size);
+ Self {
+ messages: HashMap::new(),
+ tx,
+ rx,
+ ctx,
+ running_flag: Arc::new(AtomicBool::new(false)),
+ task: None,
+ }
+ }
+
+ pub fn get_message(&mut self, message_id: u32) -> Option<&[TimedMessage]> {
+ while let Ok(message) = self.rx.try_recv() {
+ info!("Received message: {:?}", message);
+ self.add_message(message);
+ }
+ self.messages.get(&message_id).map(|v| v.as_slice())
+ }
+
+ pub fn stop_listening(&mut self) {
+ self.running_flag.store(false, Ordering::Relaxed);
+ self.task.take().map(|t| t.abort());
+ }
+
+ pub fn listen_from_ethernet_port(&mut self, port: u16) {
+ // Stop the current listener if it exists
+ self.stop_listening();
+ self.running_flag.store(true, Ordering::Relaxed);
+
+ let tx = self.tx.clone();
+ let ctx = self.ctx.clone();
+
+ let bind_address = format!("0.0.0.0:{}", port);
+ let mut buf = Box::new([0; UDP_BUFFER_SIZE]);
+ let running_flag = self.running_flag.clone();
+
+ let handle = tokio::spawn(async move {
+ let socket = UdpSocket::bind(bind_address)
+ .await
+ .context("Failed to bind socket")?;
+ debug!("Listening on UDP");
+
+ while running_flag.load(Ordering::Relaxed) {
+ let (len, _) = socket
+ .recv_from(buf.as_mut_slice())
+ .await
+ .context("Failed to receive message")?;
+ for (_, mav_message) in iter_messages(&buf[..len]) {
+ tx.send(mav_message).context("Failed to send message")?;
+ ctx.request_repaint();
+ }
+ // buf.iter_mut().for_each(|b| *b = 0);
+ }
+
+ Ok::<(), anyhow::Error>(())
+ });
+ self.task = Some(handle);
+ }
+
+ pub fn clear(&mut self) {
+ self.messages.clear();
+ }
+
+ fn add_message(&mut self, message: MavMessage) {
+ self.messages
+ .entry(message.message_id())
+ .or_default()
+ .push(TimedMessage::just_received(message));
+ }
+
+ // TODO: Implement a scheduler removal of old messages (configurable, must not hurt performance)
+ // TODO: Add a Dashmap if performance is a problem (Personally don't think it will be)
+}
+
+#[derive(Debug, Clone)]
+pub struct TimedMessage {
+ message: MavMessage,
+ time: Instant,
+}
+
+impl TimedMessage {
+ fn just_received(message: MavMessage) -> Self {
+ Self {
+ message,
+ time: Instant::now(),
+ }
+ }
+}
+
+/// Helper function to read a stream of bytes and return an iterator of MavLink messages
+fn iter_messages(buf: &[u8]) -> impl Iterator<Item = (MavHeader, MavMessage)> + '_ {
+ let mut reader = PeekReader::new(buf);
+ std::iter::from_fn(move || read_v1_msg(&mut reader).ok())
+}
diff --git a/src/ui/composable_view.rs b/src/ui/composable_view.rs
index 7351601..0070e24 100644
--- a/src/ui/composable_view.rs
+++ b/src/ui/composable_view.rs
@@ -1,3 +1,5 @@
+use crate::{mavlink, MSG_MANAGER};
+
use super::{
layout_manager::LayoutManager,
panes::{Pane, PaneBehavior, PaneKind},
@@ -21,6 +23,23 @@ pub struct ComposableView {
pub layout_manager: LayoutManager,
behavior: ComposableBehavior,
maximized_pane: Option<TileId>,
+ sources_window: SourceWindow,
+}
+
+// Implementing the default trait allows us to define a default configuration for our app
+impl Default for ComposableView {
+ fn default() -> Self {
+ let mut tiles = Tiles::default();
+ let root = tiles.insert_pane(Pane::default());
+ let panes_tree = egui_tiles::Tree::new("my_tree", root, tiles);
+
+ Self {
+ panes_tree,
+ behavior: Default::default(),
+ maximized_pane: None,
+ sources_window: Default::default(),
+ }
+ }
}
// An app must implement the `App` trait to define how the ui is built
@@ -126,9 +145,16 @@ impl eframe::App for ComposableView {
// Show a panel at the bottom of the screen with few global controls
egui::TopBottomPanel::bottom("bottom_control").show(ctx, |ui| {
+ // Horizontal belt of controls
ui.horizontal(|ui| {
egui::global_theme_preference_switch(ui);
+ // Window for the sources
+ self.sources_window.show_window(ui);
+
+ if ui.button("Sources").clicked() {
+ self.sources_window.visible = !self.sources_window.visible;
+ }
if ui.button("Layout Manager").clicked() {
self.layout_manager.toggle_open_state();
}
@@ -233,6 +259,56 @@ impl ComposableViewState {
}
}
+struct SourceWindow {
+ port: u16,
+ visible: bool,
+}
+
+impl Default for SourceWindow {
+ fn default() -> Self {
+ Self {
+ port: mavlink::DEFAULT_ETHERNET_PORT,
+ visible: false,
+ }
+ }
+}
+
+impl SourceWindow {
+ fn show_window(&mut self, ui: &mut egui::Ui) {
+ let mut window_is_open = self.visible;
+ let mut can_be_closed = false;
+ egui::Window::new("Sources")
+ .id(ui.id())
+ .auto_sized()
+ .collapsible(true)
+ .movable(true)
+ .open(&mut window_is_open)
+ .show(ui.ctx(), |ui| {
+ self.ui(ui, &mut can_be_closed);
+ });
+ self.visible = window_is_open && !can_be_closed;
+ }
+
+ fn ui(&mut self, ui: &mut egui::Ui, can_be_closed: &mut bool) {
+ egui::Grid::new(ui.id())
+ .num_columns(2)
+ .spacing([10.0, 5.0])
+ .show(ui, |ui| {
+ ui.label("Ethernet Port:");
+ ui.add(egui::Slider::new(&mut self.port, 1024..=65535).text("Port"));
+ ui.end_row();
+ });
+ if ui.button("Connect").clicked() {
+ MSG_MANAGER
+ .get()
+ .unwrap()
+ .lock()
+ .listen_from_ethernet_port(self.port);
+ *can_be_closed = true;
+ }
+ }
+}
+
/// Behavior for the tree of panes in the composable view
#[derive(Default)]
pub struct ComposableBehavior {
--
GitLab
From 1badc6d562863d97361dc14c322f7854e362aaf5 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Tue, 19 Nov 2024 01:38:29 +0100
Subject: [PATCH 04/17] [Mavlink] Updated Plot pane to support
reconfigurability on mavlink msgs
---
Cargo.lock | 53 ++++------
Cargo.toml | 30 ++++--
src/main.rs | 5 +-
src/mavlink.rs | 98 ++++++++++++++++-
src/ui/panes/plot_2d.rs | 225 ++++++++++++++++++++++++++++++++++------
5 files changed, 328 insertions(+), 83 deletions(-)
diff --git a/Cargo.lock b/Cargo.lock
index 6fe75a4..bdc8fd3 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1546,12 +1546,6 @@ dependencies = [
"winapi",
]
-[[package]]
-name = "heck"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
-
[[package]]
name = "hermit-abi"
version = "0.3.9"
@@ -1923,21 +1917,24 @@ dependencies = [
[[package]]
name = "mavlink-bindgen"
-version = "0.13.2"
-source = "git+https://github.com/federico123579/rust-mavlink.git?branch=strum-integration#02a3eebe16ac1aacb93c2c61696dcd731f6f2ef4"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83b15a4ad504e29cabfb03fdc97250a22d2354a5404d80fc48dbf02e06acf5f"
dependencies = [
"crc-any",
"lazy_static",
"proc-macro2",
- "quick-xml 0.36.2",
+ "quick-xml 0.26.0",
"quote",
+ "serde",
"thiserror",
]
[[package]]
name = "mavlink-core"
-version = "0.13.2"
-source = "git+https://github.com/federico123579/rust-mavlink.git?branch=strum-integration#02a3eebe16ac1aacb93c2c61696dcd731f6f2ef4"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0e64d975ca3cf0ad8a7c278553f91d77de15fcde9b79bf6bc542e209dd0c7dee"
dependencies = [
"byteorder",
"crc-any",
@@ -2571,6 +2568,15 @@ version = "1.0.16"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "afbdc74edc00b6f6a218ca6a5364d6226a259d4b8ea1af4a0ea063f27e179f4d"
+[[package]]
+name = "quick-xml"
+version = "0.26.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f50b1c63b38611e7d4d7f68b82d3ad0cc71a2ad2e7f61fc10f1328d917c93cd"
+dependencies = [
+ "memchr",
+]
+
[[package]]
name = "quick-xml"
version = "0.30.0"
@@ -2740,12 +2746,6 @@ dependencies = [
"windows-sys 0.52.0",
]
-[[package]]
-name = "rustversion"
-version = "1.0.18"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e819f2bc632f285be6d7cd36e25940d45b2391dd6d9b939e79de557f7014248"
-
[[package]]
name = "ryu"
version = "1.0.18"
@@ -2799,6 +2799,7 @@ dependencies = [
"egui_plot",
"egui_tiles",
"enum_dispatch",
+ "mavlink-bindgen",
"parking_lot",
"serde",
"serde_json",
@@ -2947,17 +2948,16 @@ checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
[[package]]
name = "skyward_mavlink"
version = "0.1.0"
-source = "git+https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git?branch=rust-strum#5b515ef056e5f783dc1cbc1c73eadd2f08a5652d"
dependencies = [
"bitflags 2.6.0",
"mavlink-bindgen",
"mavlink-core",
"num-derive",
"num-traits",
+ "paste",
"serde",
"serde_arrays",
- "strum",
- "strum_macros",
+ "serde_json",
]
[[package]]
@@ -3072,19 +3072,6 @@ version = "0.26.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8fec0f0aef304996cf250b31b5a10dee7980c85da9d759361292b8bca5a18f06"
-[[package]]
-name = "strum_macros"
-version = "0.26.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c6bee85a5a24955dc440386795aa378cd9cf82acd5f764469152d2270e581be"
-dependencies = [
- "heck",
- "proc-macro2",
- "quote",
- "rustversion",
- "syn 2.0.87",
-]
-
[[package]]
name = "syn"
version = "1.0.109"
diff --git a/Cargo.toml b/Cargo.toml
index 6855548..e3c6d53 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -14,6 +14,25 @@ eframe = { version = "0.29", features = ["persistence"] }
egui = { version = "0.29", features = ["log"] }
egui_plot = "0.29"
egui_file = "0.19"
+# =========== Asynchronous ===========
+tokio = { version = "1.41", features = [
+ "rt-multi-thread",
+ "net",
+ "parking_lot",
+ "sync",
+] }
+# =========== Mavlink ===========
+# skyward_mavlink = { git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git", branch = "rust-strum", features = [
+# "reflection",
+# "lyra",
+# "serde",
+# ] }
+mavlink-bindgen = { version = "0.13.1", features = ["serde"] }
+skyward_mavlink = { path = "../mavlink-skyward-lib/mavlink_rust", features = [
+ "reflection",
+ "lyra",
+ "serde",
+] }
# ========= Persistency =========
serde = { version = "1.0", features = ["derive"] }
serde_json = "1.0"
@@ -31,14 +50,3 @@ enum_dispatch = "0.3"
egui_extras = "0.29.1"
strum = "0.26"
anyhow = "1.0"
-
-# =========== Asynchronous ===========
-[dependencies.tokio]
-version = "1.41"
-features = ["rt-multi-thread", "net", "parking_lot", "sync"]
-
-# =========== Mavlink ===========
-[dependencies.skyward_mavlink]
-git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git"
-branch = "rust-strum"
-features = ["lyra", "serde", "strum"]
diff --git a/src/main.rs b/src/main.rs
index 9076b22..4af7995 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,15 +1,16 @@
mod mavlink;
mod ui;
-use std::sync::OnceLock;
+use std::sync::{LazyLock, OnceLock};
-use mavlink::MessageManager;
+use mavlink::{MessageManager, ReflectionContext};
use parking_lot::Mutex;
use tokio::runtime::Runtime;
use tracing_subscriber::{layer::SubscriberExt, util::SubscriberInitExt, EnvFilter, Layer};
use ui::ComposableView;
static MSG_MANAGER: OnceLock<Mutex<MessageManager>> = OnceLock::new();
+static MAVLINK_PROFILE: LazyLock<ReflectionContext> = LazyLock::new(|| ReflectionContext::new());
static APP_NAME: &str = "segs";
diff --git a/src/mavlink.rs b/src/mavlink.rs
index 6f04270..5b2214f 100644
--- a/src/mavlink.rs
+++ b/src/mavlink.rs
@@ -9,13 +9,13 @@ use std::{
use anyhow::{Context, Result};
use crossbeam_channel::{Receiver, Sender};
+use mavlink_bindgen::parser::{MavProfile, MavType};
use skyward_mavlink::{
lyra::MavMessage,
mavlink::{peek_reader::PeekReader, read_v1_msg, MavHeader, Message},
};
-use strum::VariantNames;
use tokio::{net::UdpSocket, task::JoinHandle};
-use tracing::{debug, info};
+use tracing::debug;
pub const DEFAULT_ETHERNET_PORT: u16 = 42069;
const UDP_BUFFER_SIZE: usize = 65527;
@@ -45,7 +45,6 @@ impl MessageManager {
pub fn get_message(&mut self, message_id: u32) -> Option<&[TimedMessage]> {
while let Ok(message) = self.rx.try_recv() {
- info!("Received message: {:?}", message);
self.add_message(message);
}
self.messages.get(&message_id).map(|v| v.as_slice())
@@ -108,8 +107,8 @@ impl MessageManager {
#[derive(Debug, Clone)]
pub struct TimedMessage {
- message: MavMessage,
- time: Instant,
+ pub message: MavMessage,
+ pub time: Instant,
}
impl TimedMessage {
@@ -126,3 +125,92 @@ fn iter_messages(buf: &[u8]) -> impl Iterator<Item = (MavHeader, MavMessage)> +
let mut reader = PeekReader::new(buf);
std::iter::from_fn(move || read_v1_msg(&mut reader).ok())
}
+
+pub struct ReflectionContext {
+ mavlink_profile: MavProfile,
+ id_name_map: HashMap<u32, String>,
+}
+
+impl ReflectionContext {
+ pub fn new() -> Self {
+ let profile: MavProfile =
+ serde_json::from_str(skyward_mavlink::reflection::LYRA_MAVLINK_PROFILE_SERIALIZED)
+ .expect("Failed to deserialize MavProfile");
+ let id_name_map = profile
+ .messages
+ .iter()
+ .map(|(name, m)| (m.id, name.clone()))
+ .collect();
+ Self {
+ mavlink_profile: profile,
+ id_name_map,
+ }
+ }
+
+ pub fn get_name_from_id(&self, message_id: u32) -> Option<&str> {
+ self.id_name_map.get(&message_id).map(|s| s.as_str())
+ }
+
+ pub fn messages(&self) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .keys()
+ .map(|s| s.as_str())
+ .collect()
+ }
+
+ pub fn get_fields_by_id(&self, message_id: u32) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .iter()
+ .find(|(_, m)| m.id == message_id)
+ .map(|(_, m)| &m.fields)
+ .unwrap_or_else(|| {
+ panic!("Message ID {} not found in profile", message_id);
+ })
+ .into_iter()
+ .map(|f| f.name.as_str())
+ .collect()
+ }
+
+ pub fn get_plottable_fields_by_id(&self, message_id: u32) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .iter()
+ .find(|(_, m)| m.id == message_id)
+ .map(|(_, m)| &m.fields)
+ .unwrap_or_else(|| {
+ panic!("Message ID {} not found in profile", message_id);
+ })
+ .into_iter()
+ .filter(|f| match f.mavtype {
+ MavType::UInt8
+ | MavType::UInt16
+ | MavType::UInt32
+ | MavType::UInt64
+ | MavType::Int8
+ | MavType::Int16
+ | MavType::Int32
+ | MavType::Int64
+ | MavType::Float
+ | MavType::Double => true,
+ _ => false,
+ })
+ .map(|f| f.name.as_str())
+ .collect()
+ }
+
+ pub fn get_fields_by_name(&self, message_name: &str) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .iter()
+ .find(|(_, m)| m.name == message_name)
+ .map(|(_, m)| &m.fields)
+ .unwrap_or_else(|| {
+ panic!("Message {} not found in profile", message_name);
+ })
+ .into_iter()
+ .map(|f| f.name.as_str())
+ .collect()
+ }
+}
diff --git a/src/ui/panes/plot_2d.rs b/src/ui/panes/plot_2d.rs
index 6ac0658..d3ec757 100644
--- a/src/ui/panes/plot_2d.rs
+++ b/src/ui/panes/plot_2d.rs
@@ -1,22 +1,31 @@
-use crate::ui::composable_view::PaneResponse;
+use crate::{ui::composable_view::PaneResponse, MAVLINK_PROFILE, MSG_MANAGER};
use super::PaneBehavior;
+use egui::Color32;
use egui_plot::{Line, PlotPoints};
use serde::{Deserialize, Serialize};
+use skyward_mavlink::{
+ lyra::{MavMessage, ROCKET_FLIGHT_TM_DATA},
+ mavlink::{Message, MessageData},
+};
#[derive(Clone, Debug, Serialize, Deserialize)]
pub struct Plot2DPane {
- n_points: u32,
- frequency: f64,
- width: f32,
- color: egui::Color32,
-
+ // UI settings
#[serde(skip)]
pub contains_pointer: bool,
-
#[serde(skip)]
settings_visible: bool,
+ sources_visible: bool,
+ // Mavlink settings
+ msg_id: u32,
+ field_x: String,
+ fields_y: Vec<String>,
+ plot_active: bool,
+ // Plot specific settings
+ width: f32,
+ color: Color32,
}
impl Default for Plot2DPane {
@@ -24,10 +33,13 @@ impl Default for Plot2DPane {
Self {
contains_pointer: false,
settings_visible: false,
- n_points: 2,
- frequency: 1.0,
+ sources_visible: false,
+ msg_id: ROCKET_FLIGHT_TM_DATA::ID,
+ field_x: "timestamp".to_owned(),
+ fields_y: vec![],
+ plot_active: false,
width: 1.0,
- color: egui::Color32::from_rgb(0, 120, 240),
+ color: Color32::from_rgb(0, 120, 240),
}
}
}
@@ -45,34 +57,80 @@ impl PaneBehavior for Plot2DPane {
fn ui(&mut self, ui: &mut egui::Ui) -> PaneResponse {
let mut response = PaneResponse::default();
- let mut window_visible = self.settings_visible;
+ // Spawn windows
+ let mut settings_window_visible = self.settings_visible;
egui::Window::new("Plot Settings")
- .id(ui.id())
+ .id(ui.make_persistent_id("plot_settings"))
.auto_sized()
.collapsible(true)
.movable(true)
- .open(&mut window_visible)
+ .open(&mut settings_window_visible)
.show(ui.ctx(), |ui| self.settings_window(ui));
- self.settings_visible = window_visible;
+ self.settings_visible = settings_window_visible;
+
+ let mut sources_window_visible = self.sources_visible;
+ egui::Window::new("Plot Sources")
+ .id(ui.make_persistent_id("plot_sources"))
+ .auto_sized()
+ .collapsible(true)
+ .movable(true)
+ .open(&mut sources_window_visible)
+ .show(ui.ctx(), |ui| self.sources_window(ui));
+ self.sources_visible = sources_window_visible;
let ctrl_pressed = ui.input(|i| i.modifiers.ctrl);
- let plot = egui_plot::Plot::new("plot");
+ let mut plot_lines = Vec::new();
+ if self.plot_active {
+ let acc_points = MSG_MANAGER
+ .get()
+ .unwrap()
+ .lock()
+ .get_message(self.msg_id)
+ .map(|msg| {
+ msg.into_iter()
+ .map(|msg| {
+ let value: serde_json::Value =
+ serde_json::to_value(msg.message.clone()).unwrap();
+
+ let x = value.get(&self.field_x).unwrap();
+ let x = serde_json::from_value::<f64>(x.clone()).unwrap();
+ let mut ys = Vec::new();
+ for field in self.fields_y.iter() {
+ let y = value.get(field).unwrap();
+ ys.push(serde_json::from_value::<f64>(y.clone()).unwrap());
+ }
+ (x, ys)
+ })
+ .collect::<Vec<(f64, Vec<f64>)>>()
+ })
+ .unwrap_or_default();
+
+ if !acc_points.is_empty() {
+ for i in 0..self.fields_y.len() {
+ let plot_line: Vec<[f64; 2]> = acc_points
+ .iter()
+ .map(|(timestamp, acc)| [*timestamp as f64, acc[i] as f64])
+ .collect();
+ plot_lines.push(plot_line);
+ }
+ }
+ }
+
+ let plot = egui_plot::Plot::new("plot").auto_bounds([true, true].into());
plot.show(ui, |plot_ui| {
self.contains_pointer = plot_ui.response().contains_pointer();
if plot_ui.response().dragged() && ctrl_pressed {
println!("ctrl + drag");
response.set_drag_started();
}
- let points: Vec<[f64; 2]> = (0..self.n_points)
- .map(|i| i as f64 * 100.0 / (self.n_points - 1) as f64)
- .map(|i| [i, (i * std::f64::consts::PI * 2.0 * self.frequency).sin()])
- .collect();
- plot_ui.line(
- Line::new(PlotPoints::from(points))
- .color(self.color)
- .width(self.width),
- );
+ for plot_line in plot_lines {
+ plot_ui.line(
+ Line::new(PlotPoints::from(plot_line))
+ .color(self.color)
+ .width(self.width),
+ );
+ }
plot_ui.response().context_menu(|ui| self.menu(ui));
});
@@ -92,6 +150,11 @@ impl Plot2DPane {
self.settings_visible = true;
ui.close_menu();
}
+
+ if ui.button("Sources…").clicked() {
+ self.sources_visible = true;
+ ui.close_menu();
+ }
}
fn settings_window(&mut self, ui: &mut egui::Ui) {
@@ -99,14 +162,6 @@ impl Plot2DPane {
.num_columns(2)
.spacing([10.0, 5.0])
.show(ui, |ui| {
- ui.label("Size:");
- ui.add(egui::Slider::new(&mut self.n_points, 2..=1000).text("Points"));
- ui.end_row();
-
- ui.label("Frequency:");
- ui.add(egui::Slider::new(&mut self.frequency, 0.1..=10.0).text("Hz"));
- ui.end_row();
-
ui.label("Color:");
ui.color_edit_button_srgba(&mut self.color);
ui.end_row();
@@ -116,4 +171,110 @@ impl Plot2DPane {
ui.end_row();
});
}
+
+ fn sources_window(&mut self, ui: &mut egui::Ui) {
+ let old_msg_id = self.msg_id;
+ let msg_name = MAVLINK_PROFILE
+ .get_name_from_id(self.msg_id)
+ .unwrap_or_default();
+ egui::ComboBox::from_label("Message Kind")
+ .selected_text(msg_name)
+ .show_ui(ui, |ui| {
+ for msg in MAVLINK_PROFILE.messages() {
+ ui.selectable_value(
+ &mut self.msg_id,
+ MavMessage::message_id_from_name(msg).unwrap(),
+ msg,
+ );
+ }
+ });
+
+ // reset fields if the message is changed
+ if self.msg_id != old_msg_id {
+ self.fields_y.truncate(1);
+ }
+
+ // check fields and assing a default field_x and field_y once the msg is changed
+ let fields = MAVLINK_PROFILE.get_plottable_fields_by_id(self.msg_id);
+ // get the first field that is in the list of fields or the previous if valid
+ let mut field_x = fields
+ .contains(&self.field_x.as_str())
+ .then(|| self.field_x.clone())
+ .or(fields.get(0).map(|s| s.to_string()));
+ // get the second field that is in the list of fields or the previous if valid
+ let mut field_y = self
+ .fields_y
+ .get(0)
+ .map(|s| fields.contains(&s.as_str()).then_some(s.to_owned()))
+ .flatten()
+ .or(fields.get(1).map(|s| s.to_string()));
+
+ // if fields are valid, show the combo boxes for the x_axis
+ if field_x.is_some() {
+ let field_x = field_x.as_mut().unwrap();
+ egui::ComboBox::from_label("X Axis")
+ .selected_text(field_x.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field_x, (*msg).to_owned(), *msg);
+ }
+ });
+ }
+ // if fields are more than 1, show the combo boxes for the y_axis
+ if field_y.is_some() {
+ let field_y = field_y.as_mut().unwrap();
+ let widget_label = if self.fields_y.len() > 1 {
+ "Y Axis 1"
+ } else {
+ "Y Axis"
+ };
+ egui::ComboBox::from_label(widget_label)
+ .selected_text(field_y.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field_y, (*msg).to_owned(), *msg);
+ }
+ });
+ }
+ // check how many fields are left and how many are selected
+ let fields_selected = self.fields_y.len() + 1;
+ let fields_left_to_draw = fields.len().saturating_sub(2);
+ for i in 0..fields_left_to_draw.min(fields_selected.saturating_sub(2)) {
+ let field = self.fields_y.get_mut(1 + i).unwrap();
+ let widget_label = format!("Y Axis {}", i + 2);
+ egui::ComboBox::from_label(widget_label)
+ .selected_text(field.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field, (*msg).to_owned(), *msg);
+ }
+ });
+ self.fields_y[1 + i] = field.clone();
+ }
+
+ // if we have fields left, show the add button
+ let fields_left_to_draw = fields.len().saturating_sub(fields_selected);
+ if fields_left_to_draw > 0 {
+ if ui
+ .button("Add Y Axis")
+ .on_hover_text("Add another Y axis")
+ .clicked()
+ {
+ self.fields_y.push(fields[fields_selected].to_string());
+ }
+ }
+
+ // update fields and flag for active plot
+ self.field_x = field_x.unwrap_or_default();
+ if field_y.is_some() {
+ if self.fields_y.get(0).is_none() {
+ self.fields_y.push(field_y.unwrap());
+ } else {
+ self.fields_y[0] = field_y.unwrap();
+ }
+ self.plot_active = true;
+ } else {
+ self.plot_active = false;
+ }
+ }
}
--
GitLab
From 027ea6ab7a26a5b5630b50b86a9ef7ad21b133fa Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sat, 23 Nov 2024 14:51:44 +0100
Subject: [PATCH 05/17] [Mavlink] Fixed few warnings
---
src/main.rs | 2 +-
src/mavlink.rs | 36 ++++++++++++++++++++----------------
src/ui/panes.rs | 10 +---------
src/ui/panes/default.rs | 2 +-
src/ui/panes/plot_2d.rs | 22 ++++++++++------------
5 files changed, 33 insertions(+), 39 deletions(-)
diff --git a/src/main.rs b/src/main.rs
index 4af7995..852ee0f 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -10,7 +10,7 @@ use tracing_subscriber::{layer::SubscriberExt, util::SubscriberInitExt, EnvFilte
use ui::ComposableView;
static MSG_MANAGER: OnceLock<Mutex<MessageManager>> = OnceLock::new();
-static MAVLINK_PROFILE: LazyLock<ReflectionContext> = LazyLock::new(|| ReflectionContext::new());
+static MAVLINK_PROFILE: LazyLock<ReflectionContext> = LazyLock::new(ReflectionContext::new);
static APP_NAME: &str = "segs";
diff --git a/src/mavlink.rs b/src/mavlink.rs
index 5b2214f..b0ce8e5 100644
--- a/src/mavlink.rs
+++ b/src/mavlink.rs
@@ -52,7 +52,9 @@ impl MessageManager {
pub fn stop_listening(&mut self) {
self.running_flag.store(false, Ordering::Relaxed);
- self.task.take().map(|t| t.abort());
+ if let Some(t) = self.task.take() {
+ t.abort()
+ }
}
pub fn listen_from_ethernet_port(&mut self, port: u16) {
@@ -168,7 +170,7 @@ impl ReflectionContext {
.unwrap_or_else(|| {
panic!("Message ID {} not found in profile", message_id);
})
- .into_iter()
+ .iter()
.map(|f| f.name.as_str())
.collect()
}
@@ -182,19 +184,21 @@ impl ReflectionContext {
.unwrap_or_else(|| {
panic!("Message ID {} not found in profile", message_id);
})
- .into_iter()
- .filter(|f| match f.mavtype {
- MavType::UInt8
- | MavType::UInt16
- | MavType::UInt32
- | MavType::UInt64
- | MavType::Int8
- | MavType::Int16
- | MavType::Int32
- | MavType::Int64
- | MavType::Float
- | MavType::Double => true,
- _ => false,
+ .iter()
+ .filter(|f| {
+ matches!(
+ f.mavtype,
+ MavType::UInt8
+ | MavType::UInt16
+ | MavType::UInt32
+ | MavType::UInt64
+ | MavType::Int8
+ | MavType::Int16
+ | MavType::Int32
+ | MavType::Int64
+ | MavType::Float
+ | MavType::Double
+ )
})
.map(|f| f.name.as_str())
.collect()
@@ -209,7 +213,7 @@ impl ReflectionContext {
.unwrap_or_else(|| {
panic!("Message {} not found in profile", message_name);
})
- .into_iter()
+ .iter()
.map(|f| f.name.as_str())
.collect()
}
diff --git a/src/ui/panes.rs b/src/ui/panes.rs
index 50c4f90..0ebd401 100644
--- a/src/ui/panes.rs
+++ b/src/ui/panes.rs
@@ -7,19 +7,11 @@ use serde::{Deserialize, Serialize};
use super::composable_view::PaneResponse;
-#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
+#[derive(Clone, Debug, PartialEq, Default, Serialize, Deserialize)]
pub struct Pane {
pub pane: PaneKind,
}
-impl Default for Pane {
- fn default() -> Self {
- Self {
- pane: PaneKind::default(),
- }
- }
-}
-
impl Pane {
pub fn boxed(pane: PaneKind) -> Box<Self> {
Box::new(Self { pane })
diff --git a/src/ui/panes/default.rs b/src/ui/panes/default.rs
index 250e35e..31fa83a 100644
--- a/src/ui/panes/default.rs
+++ b/src/ui/panes/default.rs
@@ -7,7 +7,7 @@ use crate::ui::{
utils::{vertically_centered, SizingMemo},
};
-#[derive(Clone, Debug, Serialize, Deserialize)]
+#[derive(Clone, Debug, Default, Serialize, Deserialize)]
pub struct DefaultPane {
occupied: f32,
fixed: bool,
diff --git a/src/ui/panes/plot_2d.rs b/src/ui/panes/plot_2d.rs
index d3ec757..30b2d55 100644
--- a/src/ui/panes/plot_2d.rs
+++ b/src/ui/panes/plot_2d.rs
@@ -88,7 +88,7 @@ impl PaneBehavior for Plot2DPane {
.lock()
.get_message(self.msg_id)
.map(|msg| {
- msg.into_iter()
+ msg.iter()
.map(|msg| {
let value: serde_json::Value =
serde_json::to_value(msg.message.clone()).unwrap();
@@ -110,7 +110,7 @@ impl PaneBehavior for Plot2DPane {
for i in 0..self.fields_y.len() {
let plot_line: Vec<[f64; 2]> = acc_points
.iter()
- .map(|(timestamp, acc)| [*timestamp as f64, acc[i] as f64])
+ .map(|(timestamp, acc)| [{ *timestamp }, acc[i]])
.collect();
plot_lines.push(plot_line);
}
@@ -200,13 +200,12 @@ impl Plot2DPane {
let mut field_x = fields
.contains(&self.field_x.as_str())
.then(|| self.field_x.clone())
- .or(fields.get(0).map(|s| s.to_string()));
+ .or(fields.first().map(|s| s.to_string()));
// get the second field that is in the list of fields or the previous if valid
let mut field_y = self
.fields_y
- .get(0)
- .map(|s| fields.contains(&s.as_str()).then_some(s.to_owned()))
- .flatten()
+ .first()
+ .and_then(|s| fields.contains(&s.as_str()).then_some(s.to_owned()))
.or(fields.get(1).map(|s| s.to_string()));
// if fields are valid, show the combo boxes for the x_axis
@@ -254,20 +253,19 @@ impl Plot2DPane {
// if we have fields left, show the add button
let fields_left_to_draw = fields.len().saturating_sub(fields_selected);
- if fields_left_to_draw > 0 {
- if ui
+ if fields_left_to_draw > 0
+ && ui
.button("Add Y Axis")
.on_hover_text("Add another Y axis")
.clicked()
- {
- self.fields_y.push(fields[fields_selected].to_string());
- }
+ {
+ self.fields_y.push(fields[fields_selected].to_string());
}
// update fields and flag for active plot
self.field_x = field_x.unwrap_or_default();
if field_y.is_some() {
- if self.fields_y.get(0).is_none() {
+ if self.fields_y.first().is_none() {
self.fields_y.push(field_y.unwrap());
} else {
self.fields_y[0] = field_y.unwrap();
--
GitLab
From 760a58e49cb2e6f6b1cd1710dc39eb9d4fe2bad2 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 24 Nov 2024 12:30:13 +0100
Subject: [PATCH 06/17] [Plot2D] Updated settings window
---
src/ui/panes/plot_2d.rs | 97 ++++++++++++++++++++++++++---------------
1 file changed, 62 insertions(+), 35 deletions(-)
diff --git a/src/ui/panes/plot_2d.rs b/src/ui/panes/plot_2d.rs
index 30b2d55..0f5eb81 100644
--- a/src/ui/panes/plot_2d.rs
+++ b/src/ui/panes/plot_2d.rs
@@ -10,6 +10,32 @@ use skyward_mavlink::{
mavlink::{Message, MessageData},
};
+#[derive(Clone, Debug, Serialize, Deserialize)]
+struct PlotLineSettings {
+ field_y: String,
+ width: f32,
+ color: Color32,
+}
+
+impl Default for PlotLineSettings {
+ fn default() -> Self {
+ Self {
+ field_y: "".to_owned(),
+ width: 1.0,
+ color: Color32::BLUE,
+ }
+ }
+}
+
+impl PlotLineSettings {
+ fn new(field_y: String) -> Self {
+ Self {
+ field_y,
+ ..Default::default()
+ }
+ }
+}
+
#[derive(Clone, Debug, Serialize, Deserialize)]
pub struct Plot2DPane {
// UI settings
@@ -21,11 +47,8 @@ pub struct Plot2DPane {
// Mavlink settings
msg_id: u32,
field_x: String,
- fields_y: Vec<String>,
+ plot_lines: Vec<PlotLineSettings>,
plot_active: bool,
- // Plot specific settings
- width: f32,
- color: Color32,
}
impl Default for Plot2DPane {
@@ -36,10 +59,8 @@ impl Default for Plot2DPane {
sources_visible: false,
msg_id: ROCKET_FLIGHT_TM_DATA::ID,
field_x: "timestamp".to_owned(),
- fields_y: vec![],
+ plot_lines: vec![],
plot_active: false,
- width: 1.0,
- color: Color32::from_rgb(0, 120, 240),
}
}
}
@@ -96,8 +117,8 @@ impl PaneBehavior for Plot2DPane {
let x = value.get(&self.field_x).unwrap();
let x = serde_json::from_value::<f64>(x.clone()).unwrap();
let mut ys = Vec::new();
- for field in self.fields_y.iter() {
- let y = value.get(field).unwrap();
+ for field in self.plot_lines.iter() {
+ let y = value.get(field.field_y.as_str()).unwrap();
ys.push(serde_json::from_value::<f64>(y.clone()).unwrap());
}
(x, ys)
@@ -107,12 +128,12 @@ impl PaneBehavior for Plot2DPane {
.unwrap_or_default();
if !acc_points.is_empty() {
- for i in 0..self.fields_y.len() {
- let plot_line: Vec<[f64; 2]> = acc_points
+ for (i, plot_line) in self.plot_lines.iter().enumerate() {
+ let points: Vec<[f64; 2]> = acc_points
.iter()
.map(|(timestamp, acc)| [{ *timestamp }, acc[i]])
.collect();
- plot_lines.push(plot_line);
+ plot_lines.push((plot_line.clone(), points));
}
}
}
@@ -124,11 +145,11 @@ impl PaneBehavior for Plot2DPane {
println!("ctrl + drag");
response.set_drag_started();
}
- for plot_line in plot_lines {
+ for (plot_settings, data_points) in plot_lines {
plot_ui.line(
- Line::new(PlotPoints::from(plot_line))
- .color(self.color)
- .width(self.width),
+ Line::new(PlotPoints::from(data_points))
+ .color(plot_settings.color)
+ .width(plot_settings.width),
);
}
plot_ui.response().context_menu(|ui| self.menu(ui));
@@ -159,16 +180,16 @@ impl Plot2DPane {
fn settings_window(&mut self, ui: &mut egui::Ui) {
egui::Grid::new(ui.id())
- .num_columns(2)
+ .num_columns(4)
.spacing([10.0, 5.0])
.show(ui, |ui| {
- ui.label("Color:");
- ui.color_edit_button_srgba(&mut self.color);
- ui.end_row();
-
- ui.label("Width:");
- ui.add(egui::Slider::new(&mut self.width, 0.1..=10.0).text("pt"));
- ui.end_row();
+ for plot_line in self.plot_lines.iter_mut() {
+ ui.label(&plot_line.field_y);
+ ui.color_edit_button_srgba(&mut plot_line.color);
+ ui.label("Width:");
+ ui.add(egui::Slider::new(&mut plot_line.width, 0.1..=10.0).text("pt"));
+ ui.end_row();
+ }
});
}
@@ -191,7 +212,7 @@ impl Plot2DPane {
// reset fields if the message is changed
if self.msg_id != old_msg_id {
- self.fields_y.truncate(1);
+ self.plot_lines.truncate(1);
}
// check fields and assing a default field_x and field_y once the msg is changed
@@ -203,9 +224,13 @@ impl Plot2DPane {
.or(fields.first().map(|s| s.to_string()));
// get the second field that is in the list of fields or the previous if valid
let mut field_y = self
- .fields_y
+ .plot_lines
.first()
- .and_then(|s| fields.contains(&s.as_str()).then_some(s.to_owned()))
+ .and_then(|s| {
+ fields
+ .contains(&s.field_y.as_str())
+ .then_some(s.field_y.to_owned())
+ })
.or(fields.get(1).map(|s| s.to_string()));
// if fields are valid, show the combo boxes for the x_axis
@@ -222,7 +247,7 @@ impl Plot2DPane {
// if fields are more than 1, show the combo boxes for the y_axis
if field_y.is_some() {
let field_y = field_y.as_mut().unwrap();
- let widget_label = if self.fields_y.len() > 1 {
+ let widget_label = if self.plot_lines.len() > 1 {
"Y Axis 1"
} else {
"Y Axis"
@@ -236,10 +261,10 @@ impl Plot2DPane {
});
}
// check how many fields are left and how many are selected
- let fields_selected = self.fields_y.len() + 1;
+ let fields_selected = self.plot_lines.len() + 1;
let fields_left_to_draw = fields.len().saturating_sub(2);
for i in 0..fields_left_to_draw.min(fields_selected.saturating_sub(2)) {
- let field = self.fields_y.get_mut(1 + i).unwrap();
+ let field = &mut self.plot_lines.get_mut(1 + i).unwrap().field_y;
let widget_label = format!("Y Axis {}", i + 2);
egui::ComboBox::from_label(widget_label)
.selected_text(field.as_str())
@@ -248,7 +273,7 @@ impl Plot2DPane {
ui.selectable_value(field, (*msg).to_owned(), *msg);
}
});
- self.fields_y[1 + i] = field.clone();
+ self.plot_lines[1 + i].field_y = field.clone();
}
// if we have fields left, show the add button
@@ -259,16 +284,18 @@ impl Plot2DPane {
.on_hover_text("Add another Y axis")
.clicked()
{
- self.fields_y.push(fields[fields_selected].to_string());
+ self.plot_lines
+ .push(PlotLineSettings::new(fields[fields_selected].to_string()));
}
// update fields and flag for active plot
self.field_x = field_x.unwrap_or_default();
if field_y.is_some() {
- if self.fields_y.first().is_none() {
- self.fields_y.push(field_y.unwrap());
+ if self.plot_lines.first().is_none() {
+ self.plot_lines
+ .push(PlotLineSettings::new(field_y.unwrap()));
} else {
- self.fields_y[0] = field_y.unwrap();
+ self.plot_lines[0].field_y = field_y.unwrap();
}
self.plot_active = true;
} else {
--
GitLab
From 1ec99eedb01b02e331c6bb6f7b4d874468bd9dca Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 24 Nov 2024 20:28:42 +0100
Subject: [PATCH 07/17] [Plot2D] Refactored code added
---
src/mavlink.rs | 9 +-
src/ui/panes/plot_2d.rs | 305 +++++++++++++++++++++-------------------
2 files changed, 167 insertions(+), 147 deletions(-)
diff --git a/src/mavlink.rs b/src/mavlink.rs
index b0ce8e5..20ceffe 100644
--- a/src/mavlink.rs
+++ b/src/mavlink.rs
@@ -153,12 +153,15 @@ impl ReflectionContext {
self.id_name_map.get(&message_id).map(|s| s.as_str())
}
- pub fn messages(&self) -> Vec<&str> {
- self.mavlink_profile
+ pub fn sorted_messages(&self) -> Vec<&str> {
+ let mut msgs: Vec<&str> = self
+ .mavlink_profile
.messages
.keys()
.map(|s| s.as_str())
- .collect()
+ .collect();
+ msgs.sort();
+ msgs
}
pub fn get_fields_by_id(&self, message_id: u32) -> Vec<&str> {
diff --git a/src/ui/panes/plot_2d.rs b/src/ui/panes/plot_2d.rs
index 0f5eb81..0547ef9 100644
--- a/src/ui/panes/plot_2d.rs
+++ b/src/ui/panes/plot_2d.rs
@@ -2,8 +2,8 @@ use crate::{ui::composable_view::PaneResponse, MAVLINK_PROFILE, MSG_MANAGER};
use super::PaneBehavior;
-use egui::Color32;
-use egui_plot::{Line, PlotPoints};
+use egui::{Color32, Vec2b};
+use egui_plot::{Legend, Line, PlotPoints};
use serde::{Deserialize, Serialize};
use skyward_mavlink::{
lyra::{MavMessage, ROCKET_FLIGHT_TM_DATA},
@@ -12,7 +12,7 @@ use skyward_mavlink::{
#[derive(Clone, Debug, Serialize, Deserialize)]
struct PlotLineSettings {
- field_y: String,
+ field: String,
width: f32,
color: Color32,
}
@@ -20,7 +20,7 @@ struct PlotLineSettings {
impl Default for PlotLineSettings {
fn default() -> Self {
Self {
- field_y: "".to_owned(),
+ field: "".to_owned(),
width: 1.0,
color: Color32::BLUE,
}
@@ -30,7 +30,7 @@ impl Default for PlotLineSettings {
impl PlotLineSettings {
fn new(field_y: String) -> Self {
Self {
- field_y,
+ field: field_y,
..Default::default()
}
}
@@ -78,26 +78,34 @@ impl PaneBehavior for Plot2DPane {
fn ui(&mut self, ui: &mut egui::Ui) -> PaneResponse {
let mut response = PaneResponse::default();
+ let Self {
+ settings_visible,
+ sources_visible,
+ plot_lines,
+ msg_id,
+ field_x,
+ plot_active,
+ ..
+ } = self;
+
// Spawn windows
- let mut settings_window_visible = self.settings_visible;
egui::Window::new("Plot Settings")
.id(ui.make_persistent_id("plot_settings"))
.auto_sized()
.collapsible(true)
.movable(true)
- .open(&mut settings_window_visible)
- .show(ui.ctx(), |ui| self.settings_window(ui));
- self.settings_visible = settings_window_visible;
+ .open(settings_visible)
+ .show(ui.ctx(), |ui| settings_window(ui, plot_lines));
- let mut sources_window_visible = self.sources_visible;
egui::Window::new("Plot Sources")
.id(ui.make_persistent_id("plot_sources"))
.auto_sized()
.collapsible(true)
.movable(true)
- .open(&mut sources_window_visible)
- .show(ui.ctx(), |ui| self.sources_window(ui));
- self.sources_visible = sources_window_visible;
+ .open(sources_visible)
+ .show(ui.ctx(), |ui| {
+ sources_window(ui, msg_id, field_x, plot_lines, plot_active)
+ });
let ctrl_pressed = ui.input(|i| i.modifiers.ctrl);
@@ -118,7 +126,7 @@ impl PaneBehavior for Plot2DPane {
let x = serde_json::from_value::<f64>(x.clone()).unwrap();
let mut ys = Vec::new();
for field in self.plot_lines.iter() {
- let y = value.get(field.field_y.as_str()).unwrap();
+ let y = value.get(field.field.as_str()).unwrap();
ys.push(serde_json::from_value::<f64>(y.clone()).unwrap());
}
(x, ys)
@@ -138,7 +146,9 @@ impl PaneBehavior for Plot2DPane {
}
}
- let plot = egui_plot::Plot::new("plot").auto_bounds([true, true].into());
+ let plot = egui_plot::Plot::new("plot")
+ .auto_bounds(Vec2b::TRUE)
+ .legend(Legend::default());
plot.show(ui, |plot_ui| {
self.contains_pointer = plot_ui.response().contains_pointer();
if plot_ui.response().dragged() && ctrl_pressed {
@@ -152,7 +162,9 @@ impl PaneBehavior for Plot2DPane {
.width(plot_settings.width),
);
}
- plot_ui.response().context_menu(|ui| self.menu(ui));
+ plot_ui
+ .response()
+ .context_menu(|ui| show_menu(ui, settings_visible, sources_visible));
});
response
@@ -163,143 +175,148 @@ impl PaneBehavior for Plot2DPane {
}
}
-impl Plot2DPane {
- fn menu(&mut self, ui: &mut egui::Ui) {
- ui.set_max_width(200.0); // To make sure we wrap long text
+fn settings_window(ui: &mut egui::Ui, plot_lines: &mut [PlotLineSettings]) {
+ egui::Grid::new(ui.id())
+ .num_columns(4)
+ .spacing([10.0, 5.0])
+ .show(ui, |ui| {
+ for plot_line in plot_lines.iter_mut() {
+ ui.label(&plot_line.field);
+ ui.color_edit_button_srgba(&mut plot_line.color);
+ ui.add(
+ egui::DragValue::new(&mut plot_line.width)
+ .speed(0.1)
+ .suffix(" pt"),
+ )
+ .on_hover_text("Width of the line in points");
+ ui.end_row();
+ }
+ });
+}
- if ui.button("Settings…").clicked() {
- self.settings_visible = true;
- ui.close_menu();
- }
+fn sources_window(
+ ui: &mut egui::Ui,
+ msg_id: &mut u32,
+ field_x: &mut String,
+ plot_lines: &mut Vec<PlotLineSettings>,
+ plot_active: &mut bool,
+) {
+ // record msg id to check if it has changed
+ let old_msg_id = *msg_id;
+ // extract the msg name from the id to show it in the combo box
+ let msg_name = MAVLINK_PROFILE
+ .get_name_from_id(*msg_id)
+ .unwrap_or_default();
- if ui.button("Sources…").clicked() {
- self.sources_visible = true;
- ui.close_menu();
- }
- }
+ // 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(msg_id, MavMessage::message_id_from_name(msg).unwrap(), msg);
+ }
+ });
- fn settings_window(&mut self, ui: &mut egui::Ui) {
- egui::Grid::new(ui.id())
- .num_columns(4)
- .spacing([10.0, 5.0])
- .show(ui, |ui| {
- for plot_line in self.plot_lines.iter_mut() {
- ui.label(&plot_line.field_y);
- ui.color_edit_button_srgba(&mut plot_line.color);
- ui.label("Width:");
- ui.add(egui::Slider::new(&mut plot_line.width, 0.1..=10.0).text("pt"));
- ui.end_row();
- }
- });
+ // reset fields if the message is changed
+ if *msg_id != old_msg_id {
+ plot_lines.truncate(1);
}
- fn sources_window(&mut self, ui: &mut egui::Ui) {
- let old_msg_id = self.msg_id;
- let msg_name = MAVLINK_PROFILE
- .get_name_from_id(self.msg_id)
- .unwrap_or_default();
- egui::ComboBox::from_label("Message Kind")
- .selected_text(msg_name)
- .show_ui(ui, |ui| {
- for msg in MAVLINK_PROFILE.messages() {
- ui.selectable_value(
- &mut self.msg_id,
- MavMessage::message_id_from_name(msg).unwrap(),
- msg,
- );
- }
- });
+ // check fields and assing a default field_x and field_y once the msg is changed
+ let fields = MAVLINK_PROFILE.get_plottable_fields_by_id(*msg_id);
+ // get the first field that is in the list of fields or the previous if valid
+ let new_field_x = fields
+ .contains(&field_x.as_str())
+ .then(|| field_x.to_owned())
+ .or(fields.first().map(|s| s.to_string()));
- // reset fields if the message is changed
- if self.msg_id != old_msg_id {
- self.plot_lines.truncate(1);
- }
+ // if there are no fields, reset the field_x and plot_lines
+ let Some(new_field_x) = new_field_x else {
+ *field_x = "".to_owned();
+ plot_lines.clear();
+ *plot_active = false;
+ return;
+ };
+ // update the field_x
+ *field_x = new_field_x;
- // check fields and assing a default field_x and field_y once the msg is changed
- let fields = MAVLINK_PROFILE.get_plottable_fields_by_id(self.msg_id);
- // get the first field that is in the list of fields or the previous if valid
- let mut field_x = fields
- .contains(&self.field_x.as_str())
- .then(|| self.field_x.clone())
- .or(fields.first().map(|s| s.to_string()));
- // get the second field that is in the list of fields or the previous if valid
- let mut field_y = self
- .plot_lines
- .first()
- .and_then(|s| {
- fields
- .contains(&s.field_y.as_str())
- .then_some(s.field_y.to_owned())
- })
- .or(fields.get(1).map(|s| s.to_string()));
-
- // if fields are valid, show the combo boxes for the x_axis
- if field_x.is_some() {
- let field_x = field_x.as_mut().unwrap();
- egui::ComboBox::from_label("X Axis")
- .selected_text(field_x.as_str())
- .show_ui(ui, |ui| {
- for msg in fields.iter() {
- ui.selectable_value(field_x, (*msg).to_owned(), *msg);
- }
- });
- }
- // if fields are more than 1, show the combo boxes for the y_axis
- if field_y.is_some() {
- let field_y = field_y.as_mut().unwrap();
- let widget_label = if self.plot_lines.len() > 1 {
- "Y Axis 1"
- } else {
- "Y Axis"
- };
- egui::ComboBox::from_label(widget_label)
- .selected_text(field_y.as_str())
- .show_ui(ui, |ui| {
- for msg in fields.iter() {
- ui.selectable_value(field_y, (*msg).to_owned(), *msg);
- }
- });
- }
- // check how many fields are left and how many are selected
- let fields_selected = self.plot_lines.len() + 1;
- let fields_left_to_draw = fields.len().saturating_sub(2);
- for i in 0..fields_left_to_draw.min(fields_selected.saturating_sub(2)) {
- let field = &mut self.plot_lines.get_mut(1 + i).unwrap().field_y;
- let widget_label = format!("Y Axis {}", i + 2);
- egui::ComboBox::from_label(widget_label)
- .selected_text(field.as_str())
- .show_ui(ui, |ui| {
- for msg in fields.iter() {
- ui.selectable_value(field, (*msg).to_owned(), *msg);
- }
- });
- self.plot_lines[1 + i].field_y = field.clone();
- }
+ // if fields are valid, show the combo boxes for the x_axis
+ egui::ComboBox::from_label("X Axis")
+ .selected_text(field_x.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field_x, (*msg).to_owned(), *msg);
+ }
+ });
- // if we have fields left, show the add button
- let fields_left_to_draw = fields.len().saturating_sub(fields_selected);
- if fields_left_to_draw > 0
- && ui
- .button("Add Y Axis")
- .on_hover_text("Add another Y axis")
- .clicked()
- {
- self.plot_lines
- .push(PlotLineSettings::new(fields[fields_selected].to_string()));
- }
+ // populate the plot_lines with the first field if it is empty and there are more than 1 fields
+ if plot_lines.is_empty() && fields.len() > 1 {
+ plot_lines.push(PlotLineSettings::new(fields[1].to_string()));
+ }
- // update fields and flag for active plot
- self.field_x = field_x.unwrap_or_default();
- if field_y.is_some() {
- if self.plot_lines.first().is_none() {
- self.plot_lines
- .push(PlotLineSettings::new(field_y.unwrap()));
- } else {
- self.plot_lines[0].field_y = field_y.unwrap();
+ // check how many fields are left and how many are selected
+ // let fields_selected = plot_lines.len() + 1;
+ // let fields_left_to_draw = fields.len().saturating_sub(2);
+ // fields_left_to_draw.min(fields_selected.saturating_sub(2)) {
+ let plot_lines_len = plot_lines.len();
+ egui::Grid::new(ui.auto_id_with("y_axis"))
+ .num_columns(3)
+ .spacing([10.0, 5.0])
+ .show(ui, |ui| {
+ for (i, line_settings) in plot_lines.iter_mut().enumerate() {
+ // let line_settings = &mut plot_lines.get_mut(1 + i).unwrap();
+ let PlotLineSettings {
+ field,
+ width,
+ color,
+ } = line_settings;
+ let widget_label = if plot_lines_len > 1 {
+ format!("Y Axis {}", i + 1)
+ } else {
+ "Y Axis".to_owned()
+ };
+ egui::ComboBox::from_label(widget_label)
+ .selected_text(field.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field, (*msg).to_owned(), *msg);
+ }
+ });
+ ui.color_edit_button_srgba(color);
+ ui.add(egui::DragValue::new(width).speed(0.1).suffix(" pt"))
+ .on_hover_text("Width of the line in points");
+ ui.end_row();
}
- self.plot_active = true;
- } else {
- self.plot_active = false;
- }
+ });
+
+ // if we have fields left, show the add button
+ if fields.len().saturating_sub(plot_lines_len + 1) > 0
+ && ui
+ .button("Add Y Axis")
+ .on_hover_text("Add another Y axis")
+ .clicked()
+ {
+ let next_field = fields
+ .iter()
+ .find(|f| !plot_lines.iter().any(|l| l.field == **f))
+ .unwrap();
+ plot_lines.push(PlotLineSettings::new(next_field.to_string()));
+ }
+
+ // update fields and flag for active plot
+ *plot_active = !plot_lines.is_empty();
+}
+
+fn show_menu(ui: &mut egui::Ui, settings_visible: &mut bool, sources_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();
+ }
+
+ if ui.button("Sources…").clicked() {
+ *sources_visible = true;
+ ui.close_menu();
}
}
--
GitLab
From 06271797f15e051888c9b0278290627f784337f1 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 24 Nov 2024 20:36:12 +0100
Subject: [PATCH 08/17] [Plot2D] Updated widget with legend and labels
---
src/ui/panes/plot_2d.rs | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/ui/panes/plot_2d.rs b/src/ui/panes/plot_2d.rs
index 0547ef9..5561181 100644
--- a/src/ui/panes/plot_2d.rs
+++ b/src/ui/panes/plot_2d.rs
@@ -148,7 +148,8 @@ impl PaneBehavior for Plot2DPane {
let plot = egui_plot::Plot::new("plot")
.auto_bounds(Vec2b::TRUE)
- .legend(Legend::default());
+ .legend(Legend::default())
+ .label_formatter(|name, value| format!("{} - x:{:.2} y:{:.2}", name, value.x, value.y));
plot.show(ui, |plot_ui| {
self.contains_pointer = plot_ui.response().contains_pointer();
if plot_ui.response().dragged() && ctrl_pressed {
@@ -159,7 +160,8 @@ impl PaneBehavior for Plot2DPane {
plot_ui.line(
Line::new(PlotPoints::from(data_points))
.color(plot_settings.color)
- .width(plot_settings.width),
+ .width(plot_settings.width)
+ .name(&plot_settings.field),
);
}
plot_ui
--
GitLab
From d73393aad730be81055feff3308c51f586155803 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 24 Nov 2024 20:58:41 +0100
Subject: [PATCH 09/17] [Plot2D] Improved timestamp display in plot and grid
spacing
---
src/ui/panes/plot_2d.rs | 18 +++++++++++-------
1 file changed, 11 insertions(+), 7 deletions(-)
diff --git a/src/ui/panes/plot_2d.rs b/src/ui/panes/plot_2d.rs
index 5561181..162dd05 100644
--- a/src/ui/panes/plot_2d.rs
+++ b/src/ui/panes/plot_2d.rs
@@ -115,14 +115,14 @@ impl PaneBehavior for Plot2DPane {
.get()
.unwrap()
.lock()
- .get_message(self.msg_id)
+ .get_message(*msg_id)
.map(|msg| {
msg.iter()
.map(|msg| {
let value: serde_json::Value =
serde_json::to_value(msg.message.clone()).unwrap();
- let x = value.get(&self.field_x).unwrap();
+ let x = value.get(&*field_x).unwrap();
let x = serde_json::from_value::<f64>(x.clone()).unwrap();
let mut ys = Vec::new();
for field in self.plot_lines.iter() {
@@ -137,10 +137,14 @@ impl PaneBehavior for Plot2DPane {
if !acc_points.is_empty() {
for (i, plot_line) in self.plot_lines.iter().enumerate() {
- let points: Vec<[f64; 2]> = acc_points
- .iter()
- .map(|(timestamp, acc)| [{ *timestamp }, acc[i]])
- .collect();
+ let points: Vec<[f64; 2]> = {
+ let iter = acc_points.iter();
+ if field_x == "timestamp" {
+ iter.map(|(x, ys)| [x / 1e6, ys[i]]).collect()
+ } else {
+ iter.map(|(x, ys)| [*x, ys[i]]).collect()
+ }
+ };
plot_lines.push((plot_line.clone(), points));
}
}
@@ -263,7 +267,7 @@ fn sources_window(
let plot_lines_len = plot_lines.len();
egui::Grid::new(ui.auto_id_with("y_axis"))
.num_columns(3)
- .spacing([10.0, 5.0])
+ .spacing([10.0, 2.5])
.show(ui, |ui| {
for (i, line_settings) in plot_lines.iter_mut().enumerate() {
// let line_settings = &mut plot_lines.get_mut(1 + i).unwrap();
--
GitLab
From a4d3fa3af12fb9dec0270c0197720eabf155f70d Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Tue, 26 Nov 2024 18:36:03 +0100
Subject: [PATCH 10/17] [Cargo.toml] fixed issue with relative path
---
Cargo.toml | 9 ++-------
1 file changed, 2 insertions(+), 7 deletions(-)
diff --git a/Cargo.toml b/Cargo.toml
index e3c6d53..c0f8fd2 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -22,17 +22,12 @@ tokio = { version = "1.41", features = [
"sync",
] }
# =========== Mavlink ===========
-# skyward_mavlink = { git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git", branch = "rust-strum", features = [
-# "reflection",
-# "lyra",
-# "serde",
-# ] }
-mavlink-bindgen = { version = "0.13.1", features = ["serde"] }
-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",
"lyra",
"serde",
] }
+mavlink-bindgen = { version = "0.13.1", features = ["serde"] }
# ========= Persistency =========
serde = { version = "1.0", features = ["derive"] }
serde_json = "1.0"
--
GitLab
From 7c200ed4214ca25d190596134ae9a67b82f3f81d Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Mon, 2 Dec 2024 23:17:33 +0100
Subject: [PATCH 11/17] [layout] Replaced Slider with DragValue for port
selection
---
src/ui/composable_view.rs | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/src/ui/composable_view.rs b/src/ui/composable_view.rs
index 0070e24..d89d70f 100644
--- a/src/ui/composable_view.rs
+++ b/src/ui/composable_view.rs
@@ -295,7 +295,11 @@ impl SourceWindow {
.spacing([10.0, 5.0])
.show(ui, |ui| {
ui.label("Ethernet Port:");
- ui.add(egui::Slider::new(&mut self.port, 1024..=65535).text("Port"));
+ ui.add(
+ egui::DragValue::new(&mut self.port)
+ .range(0..=65535)
+ .speed(10),
+ );
ui.end_row();
});
if ui.button("Connect").clicked() {
--
GitLab
From b4ed9f3704865eabd0b89bbcbd03f42377da61ad Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Mon, 2 Dec 2024 23:25:30 +0100
Subject: [PATCH 12/17] [Plot2D] Replaced old settings window with old sources
---
src/ui/panes/plot_2d.rs | 39 ++-------------------------------------
1 file changed, 2 insertions(+), 37 deletions(-)
diff --git a/src/ui/panes/plot_2d.rs b/src/ui/panes/plot_2d.rs
index 162dd05..9aba865 100644
--- a/src/ui/panes/plot_2d.rs
+++ b/src/ui/panes/plot_2d.rs
@@ -43,7 +43,6 @@ pub struct Plot2DPane {
pub contains_pointer: bool,
#[serde(skip)]
settings_visible: bool,
- sources_visible: bool,
// Mavlink settings
msg_id: u32,
field_x: String,
@@ -56,7 +55,6 @@ impl Default for Plot2DPane {
Self {
contains_pointer: false,
settings_visible: false,
- sources_visible: false,
msg_id: ROCKET_FLIGHT_TM_DATA::ID,
field_x: "timestamp".to_owned(),
plot_lines: vec![],
@@ -80,7 +78,6 @@ impl PaneBehavior for Plot2DPane {
let Self {
settings_visible,
- sources_visible,
plot_lines,
msg_id,
field_x,
@@ -95,14 +92,6 @@ impl PaneBehavior for Plot2DPane {
.collapsible(true)
.movable(true)
.open(settings_visible)
- .show(ui.ctx(), |ui| settings_window(ui, plot_lines));
-
- egui::Window::new("Plot Sources")
- .id(ui.make_persistent_id("plot_sources"))
- .auto_sized()
- .collapsible(true)
- .movable(true)
- .open(sources_visible)
.show(ui.ctx(), |ui| {
sources_window(ui, msg_id, field_x, plot_lines, plot_active)
});
@@ -170,7 +159,7 @@ impl PaneBehavior for Plot2DPane {
}
plot_ui
.response()
- .context_menu(|ui| show_menu(ui, settings_visible, sources_visible));
+ .context_menu(|ui| show_menu(ui, settings_visible));
});
response
@@ -181,25 +170,6 @@ impl PaneBehavior for Plot2DPane {
}
}
-fn settings_window(ui: &mut egui::Ui, plot_lines: &mut [PlotLineSettings]) {
- egui::Grid::new(ui.id())
- .num_columns(4)
- .spacing([10.0, 5.0])
- .show(ui, |ui| {
- for plot_line in plot_lines.iter_mut() {
- ui.label(&plot_line.field);
- ui.color_edit_button_srgba(&mut plot_line.color);
- ui.add(
- egui::DragValue::new(&mut plot_line.width)
- .speed(0.1)
- .suffix(" pt"),
- )
- .on_hover_text("Width of the line in points");
- ui.end_row();
- }
- });
-}
-
fn sources_window(
ui: &mut egui::Ui,
msg_id: &mut u32,
@@ -313,16 +283,11 @@ fn sources_window(
*plot_active = !plot_lines.is_empty();
}
-fn show_menu(ui: &mut egui::Ui, settings_visible: &mut bool, sources_visible: &mut bool) {
+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();
}
-
- if ui.button("Sources…").clicked() {
- *sources_visible = true;
- ui.close_menu();
- }
}
--
GitLab
From b92753ab28875afc91b17ca51c9a30304dd3f42c Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Mon, 9 Dec 2024 19:09:59 +0100
Subject: [PATCH 13/17] [Mavlink & Plot] Updated MessageBroker with optimized
handling of messages and refactore Plot
---
Cargo.lock | 81 +++++++-
Cargo.toml | 3 +-
src/main.rs | 14 +-
src/mavlink.rs | 227 +---------------------
src/mavlink/base.rs | 57 ++++++
src/mavlink/message_broker.rs | 152 +++++++++++++++
src/mavlink/reflection.rs | 98 ++++++++++
src/ui/panes.rs | 4 +-
src/ui/panes/default.rs | 4 +-
src/ui/panes/plot.rs | 239 +++++++++++++++++++++++
src/ui/panes/plot/source_window.rs | 185 ++++++++++++++++++
src/ui/panes/plot_2d.rs | 293 -----------------------------
12 files changed, 828 insertions(+), 529 deletions(-)
create mode 100644 src/mavlink/base.rs
create mode 100644 src/mavlink/message_broker.rs
create mode 100644 src/mavlink/reflection.rs
create mode 100644 src/ui/panes/plot.rs
create mode 100644 src/ui/panes/plot/source_window.rs
delete mode 100644 src/ui/panes/plot_2d.rs
diff --git a/Cargo.lock b/Cargo.lock
index bdc8fd3..32b9503 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -800,6 +800,15 @@ dependencies = [
"crossbeam-utils",
]
+[[package]]
+name = "crossbeam-queue"
+version = "0.3.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df0346b5d5e76ac2fe4e327c5fd1118d6be7c51dfb18f9b7922923f287471e35"
+dependencies = [
+ "crossbeam-utils",
+]
+
[[package]]
name = "crossbeam-utils"
version = "0.8.20"
@@ -822,6 +831,17 @@ version = "1.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "96a6ac251f4a2aca6b3f91340350eab87ae57c3f127ffeb585e92bd336717991"
+[[package]]
+name = "derivative"
+version = "2.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fcc3dd5e9e9c0b295d6e1e4d811fb6f157d5ffd784b8d202fc62eac8035a770b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
[[package]]
name = "digest"
version = "0.10.7"
@@ -1260,12 +1280,48 @@ dependencies = [
"percent-encoding",
]
+[[package]]
+name = "futures"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
+dependencies = [
+ "futures-channel",
+ "futures-core",
+ "futures-executor",
+ "futures-io",
+ "futures-sink",
+ "futures-task",
+ "futures-util",
+]
+
+[[package]]
+name = "futures-channel"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
+dependencies = [
+ "futures-core",
+ "futures-sink",
+]
+
[[package]]
name = "futures-core"
version = "0.3.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
+[[package]]
+name = "futures-executor"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e28d1d997f585e54aebc3f97d39e72338912123a67330d723fdbb564d646c9f"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "futures-util",
+]
+
[[package]]
name = "futures-io"
version = "0.3.31"
@@ -1314,6 +1370,7 @@ version = "0.3.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
dependencies = [
+ "futures-channel",
"futures-core",
"futures-io",
"futures-macro",
@@ -2710,15 +2767,17 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "19b30a45b0cd0bcca8037f3d0dc3421eaf95327a17cad11964fb8179b4fc4832"
[[package]]
-name = "ron"
-version = "0.8.1"
+name = "ring-channel"
+version = "0.12.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b91f7eff05f748767f183df4320a63d6936e9c6107d97c9e6bdd9784f4289c94"
+checksum = "10c5f5a2d656b9018cc447cae1e23c028bff5faae491fe61fd0777c57cfe0706"
dependencies = [
- "base64",
- "bitflags 2.6.0",
- "serde",
- "serde_derive",
+ "crossbeam-queue",
+ "crossbeam-utils",
+ "derivative",
+ "futures",
+ "slotmap",
+ "spin",
]
[[package]]
@@ -2801,6 +2860,7 @@ dependencies = [
"enum_dispatch",
"mavlink-bindgen",
"parking_lot",
+ "ring-channel",
"serde",
"serde_json",
"skyward_mavlink",
@@ -2948,6 +3008,7 @@ checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
[[package]]
name = "skyward_mavlink"
version = "0.1.0"
+source = "git+https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git?branch=rust-strum#0a67d0afc508c38faecc611a58819479686bee27"
dependencies = [
"bitflags 2.6.0",
"mavlink-bindgen",
@@ -3039,6 +3100,12 @@ dependencies = [
"windows-sys 0.52.0",
]
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+
[[package]]
name = "spirv"
version = "0.3.0+sdk-1.3.268.0"
diff --git a/Cargo.toml b/Cargo.toml
index c0f8fd2..975dee2 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -24,7 +24,7 @@ tokio = { version = "1.41", features = [
# =========== Mavlink ===========
skyward_mavlink = { git = "https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib.git", branch = "rust-strum", features = [
"reflection",
- "lyra",
+ "orion",
"serde",
] }
mavlink-bindgen = { version = "0.13.1", features = ["serde"] }
@@ -45,3 +45,4 @@ enum_dispatch = "0.3"
egui_extras = "0.29.1"
strum = "0.26"
anyhow = "1.0"
+ring-channel = "0.12.0"
diff --git a/src/main.rs b/src/main.rs
index 852ee0f..b211995 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,15 +1,18 @@
mod mavlink;
mod ui;
-use std::sync::{LazyLock, OnceLock};
+use std::{
+ num::NonZeroUsize,
+ sync::{LazyLock, OnceLock},
+};
-use mavlink::{MessageManager, ReflectionContext};
+use mavlink::{MessageBroker, ReflectionContext};
use parking_lot::Mutex;
use tokio::runtime::Runtime;
use tracing_subscriber::{layer::SubscriberExt, util::SubscriberInitExt, EnvFilter, Layer};
use ui::ComposableView;
-static MSG_MANAGER: OnceLock<Mutex<MessageManager>> = OnceLock::new();
+static MSG_MANAGER: OnceLock<Mutex<MessageBroker>> = OnceLock::new();
static MAVLINK_PROFILE: LazyLock<ReflectionContext> = LazyLock::new(ReflectionContext::new);
static APP_NAME: &str = "segs";
@@ -42,7 +45,10 @@ fn main() -> Result<(), eframe::Error> {
native_options,
Box::new(|ctx| {
MSG_MANAGER
- .set(Mutex::new(MessageManager::new(50, ctc.egui_ctx.clone())))
+ .set(Mutex::new(MessageBroker::new(
+ NonZeroUsize::new(50).unwrap(),
+ cc.egui_ctx.clone(),
+ )))
.expect("Unable to set MessageManager");
let app = ctx
.storage
diff --git a/src/mavlink.rs b/src/mavlink.rs
index 20ceffe..116f305 100644
--- a/src/mavlink.rs
+++ b/src/mavlink.rs
@@ -1,223 +1,10 @@
-use std::{
- collections::HashMap,
- sync::{
- atomic::{AtomicBool, Ordering},
- Arc,
- },
- time::Instant,
-};
+mod base;
+mod message_broker;
+mod reflection;
-use anyhow::{Context, Result};
-use crossbeam_channel::{Receiver, Sender};
-use mavlink_bindgen::parser::{MavProfile, MavType};
-use skyward_mavlink::{
- lyra::MavMessage,
- mavlink::{peek_reader::PeekReader, read_v1_msg, MavHeader, Message},
-};
-use tokio::{net::UdpSocket, task::JoinHandle};
-use tracing::debug;
+// Export all the types from the base module as if they were defined in this module
+pub use base::*;
+pub use message_broker::{MessageBroker, MessageView};
+pub use reflection::ReflectionContext;
pub const DEFAULT_ETHERNET_PORT: u16 = 42069;
-const UDP_BUFFER_SIZE: usize = 65527;
-
-#[derive(Debug)]
-pub struct MessageManager {
- messages: HashMap<u32, Vec<TimedMessage>>,
- tx: Sender<MavMessage>,
- rx: Receiver<MavMessage>,
- ctx: egui::Context,
- running_flag: Arc<AtomicBool>,
- task: Option<JoinHandle<Result<()>>>,
-}
-
-impl MessageManager {
- pub fn new(channel_size: usize, ctx: egui::Context) -> Self {
- let (tx, rx) = crossbeam_channel::bounded(channel_size);
- Self {
- messages: HashMap::new(),
- tx,
- rx,
- ctx,
- running_flag: Arc::new(AtomicBool::new(false)),
- task: None,
- }
- }
-
- pub fn get_message(&mut self, message_id: u32) -> Option<&[TimedMessage]> {
- while let Ok(message) = self.rx.try_recv() {
- self.add_message(message);
- }
- self.messages.get(&message_id).map(|v| v.as_slice())
- }
-
- pub fn stop_listening(&mut self) {
- self.running_flag.store(false, Ordering::Relaxed);
- if let Some(t) = self.task.take() {
- t.abort()
- }
- }
-
- pub fn listen_from_ethernet_port(&mut self, port: u16) {
- // Stop the current listener if it exists
- self.stop_listening();
- self.running_flag.store(true, Ordering::Relaxed);
-
- let tx = self.tx.clone();
- let ctx = self.ctx.clone();
-
- let bind_address = format!("0.0.0.0:{}", port);
- let mut buf = Box::new([0; UDP_BUFFER_SIZE]);
- let running_flag = self.running_flag.clone();
-
- let handle = tokio::spawn(async move {
- let socket = UdpSocket::bind(bind_address)
- .await
- .context("Failed to bind socket")?;
- debug!("Listening on UDP");
-
- while running_flag.load(Ordering::Relaxed) {
- let (len, _) = socket
- .recv_from(buf.as_mut_slice())
- .await
- .context("Failed to receive message")?;
- for (_, mav_message) in iter_messages(&buf[..len]) {
- tx.send(mav_message).context("Failed to send message")?;
- ctx.request_repaint();
- }
- // buf.iter_mut().for_each(|b| *b = 0);
- }
-
- Ok::<(), anyhow::Error>(())
- });
- self.task = Some(handle);
- }
-
- pub fn clear(&mut self) {
- self.messages.clear();
- }
-
- fn add_message(&mut self, message: MavMessage) {
- self.messages
- .entry(message.message_id())
- .or_default()
- .push(TimedMessage::just_received(message));
- }
-
- // TODO: Implement a scheduler removal of old messages (configurable, must not hurt performance)
- // TODO: Add a Dashmap if performance is a problem (Personally don't think it will be)
-}
-
-#[derive(Debug, Clone)]
-pub struct TimedMessage {
- pub message: MavMessage,
- pub time: Instant,
-}
-
-impl TimedMessage {
- fn just_received(message: MavMessage) -> Self {
- Self {
- message,
- time: Instant::now(),
- }
- }
-}
-
-/// Helper function to read a stream of bytes and return an iterator of MavLink messages
-fn iter_messages(buf: &[u8]) -> impl Iterator<Item = (MavHeader, MavMessage)> + '_ {
- let mut reader = PeekReader::new(buf);
- std::iter::from_fn(move || read_v1_msg(&mut reader).ok())
-}
-
-pub struct ReflectionContext {
- mavlink_profile: MavProfile,
- id_name_map: HashMap<u32, String>,
-}
-
-impl ReflectionContext {
- pub fn new() -> Self {
- let profile: MavProfile =
- serde_json::from_str(skyward_mavlink::reflection::LYRA_MAVLINK_PROFILE_SERIALIZED)
- .expect("Failed to deserialize MavProfile");
- let id_name_map = profile
- .messages
- .iter()
- .map(|(name, m)| (m.id, name.clone()))
- .collect();
- Self {
- mavlink_profile: profile,
- id_name_map,
- }
- }
-
- pub fn get_name_from_id(&self, message_id: u32) -> Option<&str> {
- self.id_name_map.get(&message_id).map(|s| s.as_str())
- }
-
- pub fn sorted_messages(&self) -> Vec<&str> {
- let mut msgs: Vec<&str> = self
- .mavlink_profile
- .messages
- .keys()
- .map(|s| s.as_str())
- .collect();
- msgs.sort();
- msgs
- }
-
- pub fn get_fields_by_id(&self, message_id: u32) -> Vec<&str> {
- self.mavlink_profile
- .messages
- .iter()
- .find(|(_, m)| m.id == message_id)
- .map(|(_, m)| &m.fields)
- .unwrap_or_else(|| {
- panic!("Message ID {} not found in profile", message_id);
- })
- .iter()
- .map(|f| f.name.as_str())
- .collect()
- }
-
- pub fn get_plottable_fields_by_id(&self, message_id: u32) -> Vec<&str> {
- self.mavlink_profile
- .messages
- .iter()
- .find(|(_, m)| m.id == message_id)
- .map(|(_, m)| &m.fields)
- .unwrap_or_else(|| {
- panic!("Message ID {} not found in profile", message_id);
- })
- .iter()
- .filter(|f| {
- matches!(
- f.mavtype,
- MavType::UInt8
- | MavType::UInt16
- | MavType::UInt32
- | MavType::UInt64
- | MavType::Int8
- | MavType::Int16
- | MavType::Int32
- | MavType::Int64
- | MavType::Float
- | MavType::Double
- )
- })
- .map(|f| f.name.as_str())
- .collect()
- }
-
- pub fn get_fields_by_name(&self, message_name: &str) -> Vec<&str> {
- self.mavlink_profile
- .messages
- .iter()
- .find(|(_, m)| m.name == message_name)
- .map(|(_, m)| &m.fields)
- .unwrap_or_else(|| {
- panic!("Message {} not found in profile", message_name);
- })
- .iter()
- .map(|f| f.name.as_str())
- .collect()
- }
-}
diff --git a/src/mavlink/base.rs b/src/mavlink/base.rs
new file mode 100644
index 0000000..f80c2a1
--- /dev/null
+++ b/src/mavlink/base.rs
@@ -0,0 +1,57 @@
+//! This module is a wrapper around the `skyward_mavlink` crate, facilitates
+//! rapid switching between different mavlink versions and profiles.
+//!
+//! In addition, it provides few utility functions to work with mavlink messages.
+
+use std::time::Instant;
+
+use skyward_mavlink::mavlink::peek_reader::PeekReader;
+
+// Re-export from the mavlink crate
+pub use skyward_mavlink::{
+ mavlink::*, orion::*,
+ reflection::ORION_MAVLINK_PROFILE_SERIALIZED as MAVLINK_PROFILE_SERIALIZED,
+};
+
+/// A wrapper around the `MavMessage` struct, adding a received time field.
+#[derive(Debug, Clone)]
+pub struct TimedMessage {
+ /// The underlying mavlink message
+ pub message: MavMessage,
+ /// The time instant at which the message was received
+ pub time: Instant,
+}
+
+impl TimedMessage {
+ pub fn just_received(message: MavMessage) -> Self {
+ Self {
+ message,
+ time: Instant::now(),
+ }
+ }
+}
+
+pub fn extract_from_message<K, T>(
+ message: &MavMessage,
+ fields: impl IntoIterator<Item = K>,
+) -> Vec<T>
+where
+ K: AsRef<str>,
+ T: serde::de::DeserializeOwned + Default,
+{
+ let value: serde_json::Value = serde_json::to_value(message).unwrap();
+ fields
+ .into_iter()
+ .map(|field| {
+ let field = field.as_ref();
+ let value = value.get(field).unwrap();
+ serde_json::from_value::<T>(value.clone()).unwrap_or_default()
+ })
+ .collect()
+}
+
+/// Helper function to read a stream of bytes and return an iterator of MavLink messages
+pub fn byte_parser(buf: &[u8]) -> impl Iterator<Item = (MavHeader, MavMessage)> + '_ {
+ let mut reader = PeekReader::new(buf);
+ std::iter::from_fn(move || read_v1_msg(&mut reader).ok())
+}
diff --git a/src/mavlink/message_broker.rs b/src/mavlink/message_broker.rs
new file mode 100644
index 0000000..17b80ab
--- /dev/null
+++ b/src/mavlink/message_broker.rs
@@ -0,0 +1,152 @@
+use std::{
+ collections::{HashMap, VecDeque},
+ num::NonZeroUsize,
+ sync::{
+ atomic::{AtomicBool, Ordering},
+ Arc,
+ },
+};
+
+use anyhow::{Context, Result};
+use egui::{ahash::HashMapExt, IdMap};
+use ring_channel::{ring_channel, RingReceiver, RingSender};
+use tokio::{net::UdpSocket, task::JoinHandle};
+use tracing::debug;
+
+use crate::mavlink::byte_parser;
+
+use super::{MavMessage, Message, TimedMessage};
+
+const UDP_BUFFER_SIZE: usize = 65527;
+
+pub trait MessageView {
+ fn widget_id(&self) -> &egui::Id;
+ fn id_of_interest(&self) -> u32;
+ fn is_valid(&self) -> bool;
+ fn populate_view(&mut self, msg_slice: &[TimedMessage]);
+ fn update_view(&mut self, msg_slice: &[TimedMessage]);
+}
+
+#[derive(Debug)]
+pub struct MessageBroker {
+ // == Messages ==
+ /// map(message ID -> vector of messages received so far)
+ messages: HashMap<u32, Vec<TimedMessage>>,
+ /// map(widget ID -> queue of messages left for update)
+ update_queues: IdMap<(u32, VecDeque<TimedMessage>)>,
+ // == Internal ==
+ /// Flag to stop the listener
+ running_flag: Arc<AtomicBool>,
+ /// Listener message sender
+ tx: RingSender<MavMessage>,
+ /// Broker message receiver
+ rx: RingReceiver<MavMessage>,
+ /// Task handle for the listener
+ task: Option<JoinHandle<Result<()>>>,
+ /// Egui context
+ ctx: egui::Context,
+}
+
+impl MessageBroker {
+ pub fn new(channel_size: NonZeroUsize, ctx: egui::Context) -> Self {
+ let (tx, rx) = ring_channel(channel_size);
+ Self {
+ messages: HashMap::new(),
+ update_queues: IdMap::new(),
+ tx,
+ rx,
+ ctx,
+ running_flag: Arc::new(AtomicBool::new(false)),
+ task: None,
+ }
+ }
+
+ pub fn refresh_view<V: MessageView>(&mut self, view: &mut V) {
+ self.process_incoming_msgs();
+ if !view.is_valid() {
+ self.init_view(view);
+ } else {
+ self.update_view(view);
+ }
+ }
+
+ pub fn stop_listening(&mut self) {
+ self.running_flag.store(false, Ordering::Relaxed);
+ if let Some(t) = self.task.take() {
+ t.abort()
+ }
+ }
+
+ pub fn listen_from_ethernet_port(&mut self, port: u16) {
+ // Stop the current listener if it exists
+ self.stop_listening();
+ self.running_flag.store(true, Ordering::Relaxed);
+
+ let tx = self.tx.clone();
+ let ctx = self.ctx.clone();
+
+ let bind_address = format!("0.0.0.0:{}", port);
+ let mut buf = Box::new([0; UDP_BUFFER_SIZE]);
+ let running_flag = self.running_flag.clone();
+
+ let handle = tokio::spawn(async move {
+ let socket = UdpSocket::bind(bind_address)
+ .await
+ .context("Failed to bind socket")?;
+ debug!("Listening on UDP");
+
+ while running_flag.load(Ordering::Relaxed) {
+ let (len, _) = socket
+ .recv_from(buf.as_mut_slice())
+ .await
+ .context("Failed to receive message")?;
+ for (_, mav_message) in byte_parser(&buf[..len]) {
+ tx.send(mav_message).context("Failed to send message")?;
+ ctx.request_repaint();
+ }
+ }
+
+ Ok::<(), anyhow::Error>(())
+ });
+ self.task = Some(handle);
+ }
+
+ pub fn clear(&mut self) {
+ self.messages.clear();
+ }
+
+ fn init_view<V: MessageView>(&mut self, view: &mut V) {
+ if let Some(messages) = self.messages.get(&view.id_of_interest()) {
+ view.populate_view(messages);
+ }
+ self.update_queues
+ .insert(*view.widget_id(), (view.id_of_interest(), VecDeque::new()));
+ }
+
+ fn update_view<V: MessageView>(&mut self, view: &mut V) {
+ if let Some((_, queue)) = self.update_queues.get_mut(view.widget_id()) {
+ while let Some(msg) = queue.pop_front() {
+ view.update_view(&[msg]);
+ }
+ }
+ }
+
+ fn process_incoming_msgs(&mut self) {
+ while let Ok(message) = self.rx.try_recv() {
+ // first update the update queues
+ for (_, (id, queue)) in self.update_queues.iter_mut() {
+ if *id == message.message_id() {
+ queue.push_back(TimedMessage::just_received(message.clone()));
+ }
+ }
+ // then store the message in the messages map
+ self.messages
+ .entry(message.message_id())
+ .or_default()
+ .push(TimedMessage::just_received(message));
+ }
+ }
+
+ // TODO: Implement a scheduler removal of old messages (configurable, must not hurt performance)
+ // TODO: Add a Dashmap if performance is a problem (Personally don't think it will be)
+}
diff --git a/src/mavlink/reflection.rs b/src/mavlink/reflection.rs
new file mode 100644
index 0000000..ae2394a
--- /dev/null
+++ b/src/mavlink/reflection.rs
@@ -0,0 +1,98 @@
+use std::collections::HashMap;
+
+use mavlink_bindgen::parser::{MavProfile, MavType};
+
+use super::MAVLINK_PROFILE_SERIALIZED;
+
+pub struct ReflectionContext {
+ mavlink_profile: MavProfile,
+ id_name_map: HashMap<u32, String>,
+}
+
+impl ReflectionContext {
+ pub fn new() -> Self {
+ let profile: MavProfile = serde_json::from_str(MAVLINK_PROFILE_SERIALIZED)
+ .expect("Failed to deserialize MavProfile");
+ let id_name_map = profile
+ .messages
+ .iter()
+ .map(|(name, m)| (m.id, name.clone()))
+ .collect();
+ Self {
+ mavlink_profile: profile,
+ id_name_map,
+ }
+ }
+
+ pub fn get_name_from_id(&self, message_id: u32) -> Option<&str> {
+ self.id_name_map.get(&message_id).map(|s| s.as_str())
+ }
+
+ pub fn sorted_messages(&self) -> Vec<&str> {
+ let mut msgs: Vec<&str> = self
+ .mavlink_profile
+ .messages
+ .keys()
+ .map(|s| s.as_str())
+ .collect();
+ msgs.sort();
+ msgs
+ }
+
+ pub fn get_fields_by_id(&self, message_id: u32) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .iter()
+ .find(|(_, m)| m.id == message_id)
+ .map(|(_, m)| &m.fields)
+ .unwrap_or_else(|| {
+ panic!("Message ID {} not found in profile", message_id);
+ })
+ .iter()
+ .map(|f| f.name.as_str())
+ .collect()
+ }
+
+ pub fn get_plottable_fields_by_id(&self, message_id: u32) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .iter()
+ .find(|(_, m)| m.id == message_id)
+ .map(|(_, m)| &m.fields)
+ .unwrap_or_else(|| {
+ panic!("Message ID {} not found in profile", message_id);
+ })
+ .iter()
+ .filter(|f| {
+ matches!(
+ f.mavtype,
+ MavType::UInt8
+ | MavType::UInt16
+ | MavType::UInt32
+ | MavType::UInt64
+ | MavType::Int8
+ | MavType::Int16
+ | MavType::Int32
+ | MavType::Int64
+ | MavType::Float
+ | MavType::Double
+ )
+ })
+ .map(|f| f.name.as_str())
+ .collect()
+ }
+
+ pub fn get_fields_by_name(&self, message_name: &str) -> Vec<&str> {
+ self.mavlink_profile
+ .messages
+ .iter()
+ .find(|(_, m)| m.name == message_name)
+ .map(|(_, m)| &m.fields)
+ .unwrap_or_else(|| {
+ panic!("Message {} not found in profile", message_name);
+ })
+ .iter()
+ .map(|f| f.name.as_str())
+ .collect()
+ }
+}
diff --git a/src/ui/panes.rs b/src/ui/panes.rs
index 0ebd401..c0ae378 100644
--- a/src/ui/panes.rs
+++ b/src/ui/panes.rs
@@ -1,6 +1,6 @@
mod default;
mod messages_viewer;
-mod plot_2d;
+mod plot;
use enum_dispatch::enum_dispatch;
use serde::{Deserialize, Serialize};
@@ -40,7 +40,7 @@ impl PaneBehavior for Pane {
pub enum PaneKind {
Default(default::DefaultPane),
MessagesViewer(messages_viewer::MessagesViewerPane),
- Plot2D(plot_2d::Plot2DPane),
+ Plot2D(plot::Plot2DPane),
}
impl Default for PaneKind {
diff --git a/src/ui/panes/default.rs b/src/ui/panes/default.rs
index 31fa83a..42e6667 100644
--- a/src/ui/panes/default.rs
+++ b/src/ui/panes/default.rs
@@ -1,4 +1,4 @@
-use super::{plot_2d::Plot2DPane, Pane, PaneBehavior, PaneKind};
+use super::{plot::Plot2DPane, Pane, PaneBehavior, PaneKind};
use serde::{Deserialize, Serialize};
use tracing::debug;
@@ -48,7 +48,7 @@ impl PaneBehavior for DefaultPane {
}
if ui.button("Plot").clicked() {
response.set_action(PaneAction::Replace(Pane::boxed(PaneKind::Plot2D(
- Plot2DPane::default(),
+ Plot2DPane::new(ui.auto_id_with("plot_2d")),
))));
}
})
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
new file mode 100644
index 0000000..029981e
--- /dev/null
+++ b/src/ui/panes/plot.rs
@@ -0,0 +1,239 @@
+mod source_window;
+
+use egui::{Color32, Vec2b};
+use egui_plot::{Legend, Line, PlotPoints};
+use serde::{Deserialize, Serialize};
+use source_window::{sources_window, SourceSettings};
+
+use crate::{
+ mavlink::{
+ extract_from_message, MessageData, MessageView, TimedMessage, ROCKET_FLIGHT_TM_DATA,
+ },
+ ui::composable_view::PaneResponse,
+ MSG_MANAGER,
+};
+
+use super::PaneBehavior;
+
+#[derive(Clone, Debug, Serialize, Deserialize)]
+pub struct Plot2DPane {
+ // UI settings
+ #[serde(skip)]
+ pub contains_pointer: bool,
+ settings_visible: bool,
+ line_settings: Vec<LineSettings>,
+ plot_active: bool,
+ view: PlotMessageView,
+}
+
+impl Plot2DPane {
+ pub fn new(id: egui::Id) -> Self {
+ Self {
+ contains_pointer: false,
+ settings_visible: false,
+ line_settings: vec![],
+ plot_active: false,
+ view: PlotMessageView::new(id),
+ }
+ }
+}
+
+impl PaneBehavior for Plot2DPane {
+ fn ui(&mut self, ui: &mut egui::Ui) -> PaneResponse {
+ let mut response = PaneResponse::default();
+
+ let Self {
+ line_settings: plot_lines,
+ settings_visible,
+ plot_active,
+ view,
+ ..
+ } = self;
+
+ let mut settings = SourceSettings::new(&mut view.settings, plot_lines);
+ egui::Window::new("Plot Settings")
+ .id(ui.auto_id_with("plot_settings")) // TODO: fix this issue with ids
+ .auto_sized()
+ .collapsible(true)
+ .movable(true)
+ .open(settings_visible)
+ .show(ui.ctx(), |ui| sources_window(ui, &mut settings));
+ // if settings are changed, invalidate the cache
+ view.cache_valid = !settings.are_sources_changed();
+ // if there are no fields, do not plot
+ *plot_active = !settings.fields_empty();
+
+ let ctrl_pressed = ui.input(|i| i.modifiers.ctrl);
+
+ let mut plot_lines = Vec::new();
+ if self.plot_active {
+ MSG_MANAGER.get().unwrap().lock().refresh_view(view);
+ let acc_points = &view.points;
+
+ let field_x = &view.settings.x_field;
+ if !acc_points.is_empty() {
+ for (i, plot_line) in self.line_settings.iter().enumerate() {
+ let points: Vec<[f64; 2]> = {
+ let iter = acc_points.iter();
+ if field_x == "timestamp" {
+ iter.map(|(x, ys)| [x / 1e6, ys[i]]).collect()
+ } else {
+ iter.map(|(x, ys)| [*x, ys[i]]).collect()
+ }
+ };
+ plot_lines.push((plot_line.clone(), points));
+ }
+ }
+ }
+
+ let plot = egui_plot::Plot::new("plot")
+ .auto_bounds(Vec2b::TRUE)
+ .legend(Legend::default())
+ .label_formatter(|name, value| format!("{} - x:{:.2} y:{:.2}", name, value.x, value.y));
+ plot.show(ui, |plot_ui| {
+ self.contains_pointer = plot_ui.response().contains_pointer();
+ if plot_ui.response().dragged() && ctrl_pressed {
+ println!("ctrl + drag");
+ response.set_drag_started();
+ }
+ for (plot_settings, data_points) in plot_lines {
+ plot_ui.line(
+ Line::new(PlotPoints::from(data_points))
+ .color(plot_settings.color)
+ .width(plot_settings.width)
+ .name(&plot_settings.field),
+ );
+ }
+ plot_ui
+ .response()
+ .context_menu(|ui| show_menu(ui, settings_visible));
+ });
+
+ response
+ }
+
+ fn contains_pointer(&self) -> bool {
+ self.contains_pointer
+ }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+struct PlotMessageView {
+ // == Settings from the UI ==
+ settings: MsgSources,
+ // == Data ==
+ #[serde(skip)]
+ points: Vec<(f64, Vec<f64>)>,
+ // == Internal ==
+ id: egui::Id,
+ #[serde(skip)]
+ cache_valid: bool,
+}
+
+impl PlotMessageView {
+ fn new(id: egui::Id) -> Self {
+ Self {
+ settings: Default::default(),
+ points: Vec::new(),
+ id,
+ cache_valid: false,
+ }
+ }
+}
+
+impl MessageView for PlotMessageView {
+ fn widget_id(&self) -> &egui::Id {
+ &self.id
+ }
+
+ fn id_of_interest(&self) -> u32 {
+ self.settings.msg_id
+ }
+
+ fn is_valid(&self) -> bool {
+ self.cache_valid
+ }
+
+ fn populate_view(&mut self, msg_slice: &[TimedMessage]) {
+ self.points.clear();
+ let MsgSources {
+ x_field, y_fields, ..
+ } = &self.settings;
+ for msg in msg_slice {
+ let x: f64 = extract_from_message(&msg.message, [x_field])[0];
+ let ys: Vec<f64> = extract_from_message(&msg.message, y_fields);
+ self.points.push((x, ys));
+ }
+ }
+
+ fn update_view(&mut self, msg_slice: &[TimedMessage]) {
+ let MsgSources {
+ x_field, y_fields, ..
+ } = &self.settings;
+ for msg in msg_slice {
+ let x: f64 = extract_from_message(&msg.message, [x_field])[0];
+ let ys: Vec<f64> = extract_from_message(&msg.message, y_fields);
+ self.points.push((x, ys));
+ }
+ }
+}
+
+#[derive(Clone, Debug, Serialize, Deserialize)]
+struct MsgSources {
+ msg_id: u32,
+ x_field: String,
+ y_fields: Vec<String>,
+}
+
+impl Default for MsgSources {
+ fn default() -> Self {
+ Self {
+ msg_id: ROCKET_FLIGHT_TM_DATA::ID,
+ x_field: "timestamp".to_owned(),
+ y_fields: Vec::new(),
+ }
+ }
+}
+
+impl PartialEq for MsgSources {
+ fn eq(&self, other: &Self) -> bool {
+ self.msg_id == other.msg_id
+ && self.x_field == other.x_field
+ && self.y_fields == other.y_fields
+ }
+}
+
+#[derive(Clone, Debug, Serialize, Deserialize)]
+struct LineSettings {
+ field: String,
+ width: f32,
+ color: Color32,
+}
+
+impl Default for LineSettings {
+ fn default() -> Self {
+ Self {
+ field: "".to_owned(),
+ width: 1.0,
+ color: Color32::BLUE,
+ }
+ }
+}
+
+impl LineSettings {
+ fn new(field_y: String) -> Self {
+ Self {
+ field: field_y,
+ ..Default::default()
+ }
+ }
+}
+
+fn show_menu(ui: &mut egui::Ui, settings_visible: &mut bool) {
+ ui.set_max_width(200.0); // To make sure we wrap long text
+
+ if ui.button("Settings…").clicked() {
+ *settings_visible = true;
+ ui.close_menu();
+ }
+}
diff --git a/src/ui/panes/plot/source_window.rs b/src/ui/panes/plot/source_window.rs
new file mode 100644
index 0000000..ecb4d61
--- /dev/null
+++ b/src/ui/panes/plot/source_window.rs
@@ -0,0 +1,185 @@
+use crate::{
+ mavlink::{MavMessage, Message},
+ MAVLINK_PROFILE,
+};
+
+use super::{LineSettings, MsgSources};
+
+pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut SourceSettings) {
+ // extract the msg name from the id to show it in the combo box
+ let msg_name = MAVLINK_PROFILE
+ .get_name_from_id(*plot_settings.get_msg_id())
+ .unwrap_or_default();
+
+ // show the first combo box with the message name selection
+ egui::ComboBox::from_label("Message Kind")
+ .selected_text(msg_name)
+ .show_ui(ui, |ui| {
+ for msg in MAVLINK_PROFILE.sorted_messages() {
+ ui.selectable_value(
+ plot_settings.get_mut_msg_id(),
+ MavMessage::message_id_from_name(msg).unwrap(),
+ msg,
+ );
+ }
+ });
+
+ // reset fields if the message is changed
+ if plot_settings.is_msg_id_changed() {
+ plot_settings.clear_fields();
+ }
+
+ // check fields and assign a default field_x and field_y once the msg is changed
+ let fields = MAVLINK_PROFILE.get_plottable_fields_by_id(*plot_settings.get_msg_id());
+ // get the first field that is in the list of fields or the previous if valid
+ let x_field = plot_settings.get_x_field();
+ let new_field_x = fields
+ .contains(&x_field)
+ .then(|| x_field.to_owned())
+ .or(fields.first().map(|s| s.to_string()));
+
+ // if there are no fields, reset the field_x and plot_lines
+ let Some(new_field_x) = new_field_x else {
+ plot_settings.clear_fields();
+ return;
+ };
+ // update the field_x
+ plot_settings.set_x_field(new_field_x);
+ let x_field = plot_settings.get_mut_x_field();
+
+ // if fields are valid, show the combo boxes for the x_axis
+ egui::ComboBox::from_label("X Axis")
+ .selected_text(x_field.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(x_field, (*msg).to_owned(), *msg);
+ }
+ });
+
+ // populate the plot_lines with the first field if it is empty and there are more than 1 fields
+ if plot_settings.fields_empty() && fields.len() > 1 {
+ plot_settings.add_field(fields[1].to_string());
+ }
+
+ // check how many fields are left and how many are selected
+ let plot_lines_len = plot_settings.fields_len();
+ egui::Grid::new(ui.auto_id_with("y_axis"))
+ .num_columns(3)
+ .spacing([10.0, 2.5])
+ .show(ui, |ui| {
+ for (i, line_settings) in plot_settings.line_settings.iter_mut().enumerate() {
+ let LineSettings {
+ field,
+ width,
+ color,
+ } = line_settings;
+ let widget_label = if plot_lines_len > 1 {
+ format!("Y Axis {}", i + 1)
+ } else {
+ "Y Axis".to_owned()
+ };
+ egui::ComboBox::from_label(widget_label)
+ .selected_text(field.as_str())
+ .show_ui(ui, |ui| {
+ for msg in fields.iter() {
+ ui.selectable_value(field, (*msg).to_owned(), *msg);
+ }
+ });
+ ui.color_edit_button_srgba(color);
+ ui.add(egui::DragValue::new(width).speed(0.1).suffix(" pt"))
+ .on_hover_text("Width of the line in points");
+ ui.end_row();
+ }
+ });
+ // Sync changes applied to line_settings with msg_sources
+ plot_settings.sync_fields_with_lines();
+
+ // if we have fields left, show the add button
+ if fields.len().saturating_sub(plot_lines_len + 1) > 0
+ && ui
+ .button("Add Y Axis")
+ .on_hover_text("Add another Y axis")
+ .clicked()
+ {
+ let next_field = fields
+ .iter()
+ .find(|f| !plot_settings.contains_field(f))
+ .unwrap();
+ plot_settings.add_field(next_field.to_string());
+ }
+}
+
+pub struct SourceSettings<'a> {
+ msg_sources: &'a mut MsgSources,
+ old_msg_sources: MsgSources,
+ line_settings: &'a mut Vec<LineSettings>,
+}
+
+impl<'a> SourceSettings<'a> {
+ pub fn new(msg_sources: &'a mut MsgSources, line_settings: &'a mut Vec<LineSettings>) -> Self {
+ Self {
+ old_msg_sources: msg_sources.clone(),
+ msg_sources,
+ line_settings,
+ }
+ }
+
+ pub fn are_sources_changed(&self) -> bool {
+ self.msg_sources != &self.old_msg_sources
+ }
+
+ pub fn fields_empty(&self) -> bool {
+ self.msg_sources.y_fields.is_empty()
+ }
+
+ fn get_msg_id(&self) -> &u32 {
+ &self.msg_sources.msg_id
+ }
+
+ fn get_x_field(&self) -> &str {
+ &self.msg_sources.x_field
+ }
+
+ fn get_mut_msg_id(&mut self) -> &mut u32 {
+ &mut self.msg_sources.msg_id
+ }
+
+ fn get_mut_x_field(&mut self) -> &mut String {
+ &mut self.msg_sources.x_field
+ }
+
+ fn set_x_field(&mut self, field: String) {
+ self.msg_sources.x_field = field;
+ }
+
+ fn fields_len(&self) -> usize {
+ self.msg_sources.y_fields.len()
+ }
+
+ fn is_msg_id_changed(&self) -> bool {
+ self.msg_sources.msg_id != self.old_msg_sources.msg_id
+ }
+
+ fn contains_field(&self, field: &str) -> bool {
+ self.msg_sources.y_fields.contains(&field.to_owned())
+ }
+
+ fn sync_fields_with_lines(&mut self) {
+ self.msg_sources.y_fields = self
+ .line_settings
+ .iter()
+ .map(|ls| ls.field.clone())
+ .collect();
+ }
+
+ fn add_field(&mut self, field: String) {
+ self.line_settings.push(LineSettings::new(field.clone()));
+ self.msg_sources.y_fields.push(field);
+ }
+
+ fn clear_fields(&mut self) {
+ self.msg_sources.y_fields.clear();
+ self.line_settings.clear();
+ self.msg_sources.x_field = "".to_owned();
+ }
+}
diff --git a/src/ui/panes/plot_2d.rs b/src/ui/panes/plot_2d.rs
deleted file mode 100644
index 9aba865..0000000
--- a/src/ui/panes/plot_2d.rs
+++ /dev/null
@@ -1,293 +0,0 @@
-use crate::{ui::composable_view::PaneResponse, MAVLINK_PROFILE, MSG_MANAGER};
-
-use super::PaneBehavior;
-
-use egui::{Color32, Vec2b};
-use egui_plot::{Legend, Line, PlotPoints};
-use serde::{Deserialize, Serialize};
-use skyward_mavlink::{
- lyra::{MavMessage, ROCKET_FLIGHT_TM_DATA},
- mavlink::{Message, MessageData},
-};
-
-#[derive(Clone, Debug, Serialize, Deserialize)]
-struct PlotLineSettings {
- field: String,
- width: f32,
- color: Color32,
-}
-
-impl Default for PlotLineSettings {
- fn default() -> Self {
- Self {
- field: "".to_owned(),
- width: 1.0,
- color: Color32::BLUE,
- }
- }
-}
-
-impl PlotLineSettings {
- fn new(field_y: String) -> Self {
- Self {
- field: field_y,
- ..Default::default()
- }
- }
-}
-
-#[derive(Clone, Debug, Serialize, Deserialize)]
-pub struct Plot2DPane {
- // UI settings
- #[serde(skip)]
- pub contains_pointer: bool,
- #[serde(skip)]
- settings_visible: bool,
- // Mavlink settings
- msg_id: u32,
- field_x: String,
- plot_lines: Vec<PlotLineSettings>,
- plot_active: bool,
-}
-
-impl Default for Plot2DPane {
- fn default() -> Self {
- Self {
- contains_pointer: false,
- settings_visible: false,
- msg_id: ROCKET_FLIGHT_TM_DATA::ID,
- field_x: "timestamp".to_owned(),
- plot_lines: vec![],
- plot_active: false,
- }
- }
-}
-
-impl PartialEq for Plot2DPane {
- fn eq(&self, other: &Self) -> bool {
- self.n_points == other.n_points
- && self.frequency == other.frequency
- && self.width == other.width
- && self.color == other.color
- }
-}
-
-impl PaneBehavior for Plot2DPane {
- fn ui(&mut self, ui: &mut egui::Ui) -> PaneResponse {
- let mut response = PaneResponse::default();
-
- let Self {
- settings_visible,
- plot_lines,
- msg_id,
- field_x,
- plot_active,
- ..
- } = self;
-
- // Spawn windows
- egui::Window::new("Plot Settings")
- .id(ui.make_persistent_id("plot_settings"))
- .auto_sized()
- .collapsible(true)
- .movable(true)
- .open(settings_visible)
- .show(ui.ctx(), |ui| {
- sources_window(ui, msg_id, field_x, plot_lines, plot_active)
- });
-
- let ctrl_pressed = ui.input(|i| i.modifiers.ctrl);
-
- let mut plot_lines = Vec::new();
- if self.plot_active {
- let acc_points = MSG_MANAGER
- .get()
- .unwrap()
- .lock()
- .get_message(*msg_id)
- .map(|msg| {
- msg.iter()
- .map(|msg| {
- let value: serde_json::Value =
- serde_json::to_value(msg.message.clone()).unwrap();
-
- let x = value.get(&*field_x).unwrap();
- let x = serde_json::from_value::<f64>(x.clone()).unwrap();
- let mut ys = Vec::new();
- for field in self.plot_lines.iter() {
- let y = value.get(field.field.as_str()).unwrap();
- ys.push(serde_json::from_value::<f64>(y.clone()).unwrap());
- }
- (x, ys)
- })
- .collect::<Vec<(f64, Vec<f64>)>>()
- })
- .unwrap_or_default();
-
- if !acc_points.is_empty() {
- for (i, plot_line) in self.plot_lines.iter().enumerate() {
- let points: Vec<[f64; 2]> = {
- let iter = acc_points.iter();
- if field_x == "timestamp" {
- iter.map(|(x, ys)| [x / 1e6, ys[i]]).collect()
- } else {
- iter.map(|(x, ys)| [*x, ys[i]]).collect()
- }
- };
- plot_lines.push((plot_line.clone(), points));
- }
- }
- }
-
- let plot = egui_plot::Plot::new("plot")
- .auto_bounds(Vec2b::TRUE)
- .legend(Legend::default())
- .label_formatter(|name, value| format!("{} - x:{:.2} y:{:.2}", name, value.x, value.y));
- plot.show(ui, |plot_ui| {
- self.contains_pointer = plot_ui.response().contains_pointer();
- if plot_ui.response().dragged() && ctrl_pressed {
- println!("ctrl + drag");
- response.set_drag_started();
- }
- for (plot_settings, data_points) in plot_lines {
- plot_ui.line(
- Line::new(PlotPoints::from(data_points))
- .color(plot_settings.color)
- .width(plot_settings.width)
- .name(&plot_settings.field),
- );
- }
- plot_ui
- .response()
- .context_menu(|ui| show_menu(ui, settings_visible));
- });
-
- response
- }
-
- fn contains_pointer(&self) -> bool {
- self.contains_pointer
- }
-}
-
-fn sources_window(
- ui: &mut egui::Ui,
- msg_id: &mut u32,
- field_x: &mut String,
- plot_lines: &mut Vec<PlotLineSettings>,
- plot_active: &mut bool,
-) {
- // record msg id to check if it has changed
- let old_msg_id = *msg_id;
- // extract the msg name from the id to show it in the combo box
- let msg_name = MAVLINK_PROFILE
- .get_name_from_id(*msg_id)
- .unwrap_or_default();
-
- // show the first combo box with the message name selection
- egui::ComboBox::from_label("Message Kind")
- .selected_text(msg_name)
- .show_ui(ui, |ui| {
- for msg in MAVLINK_PROFILE.sorted_messages() {
- ui.selectable_value(msg_id, MavMessage::message_id_from_name(msg).unwrap(), msg);
- }
- });
-
- // reset fields if the message is changed
- if *msg_id != old_msg_id {
- plot_lines.truncate(1);
- }
-
- // check fields and assing a default field_x and field_y once the msg is changed
- let fields = MAVLINK_PROFILE.get_plottable_fields_by_id(*msg_id);
- // get the first field that is in the list of fields or the previous if valid
- let new_field_x = fields
- .contains(&field_x.as_str())
- .then(|| field_x.to_owned())
- .or(fields.first().map(|s| s.to_string()));
-
- // if there are no fields, reset the field_x and plot_lines
- let Some(new_field_x) = new_field_x else {
- *field_x = "".to_owned();
- plot_lines.clear();
- *plot_active = false;
- return;
- };
- // update the field_x
- *field_x = new_field_x;
-
- // if fields are valid, show the combo boxes for the x_axis
- egui::ComboBox::from_label("X Axis")
- .selected_text(field_x.as_str())
- .show_ui(ui, |ui| {
- for msg in fields.iter() {
- ui.selectable_value(field_x, (*msg).to_owned(), *msg);
- }
- });
-
- // populate the plot_lines with the first field if it is empty and there are more than 1 fields
- if plot_lines.is_empty() && fields.len() > 1 {
- plot_lines.push(PlotLineSettings::new(fields[1].to_string()));
- }
-
- // check how many fields are left and how many are selected
- // let fields_selected = plot_lines.len() + 1;
- // let fields_left_to_draw = fields.len().saturating_sub(2);
- // fields_left_to_draw.min(fields_selected.saturating_sub(2)) {
- let plot_lines_len = plot_lines.len();
- egui::Grid::new(ui.auto_id_with("y_axis"))
- .num_columns(3)
- .spacing([10.0, 2.5])
- .show(ui, |ui| {
- for (i, line_settings) in plot_lines.iter_mut().enumerate() {
- // let line_settings = &mut plot_lines.get_mut(1 + i).unwrap();
- let PlotLineSettings {
- field,
- width,
- color,
- } = line_settings;
- let widget_label = if plot_lines_len > 1 {
- format!("Y Axis {}", i + 1)
- } else {
- "Y Axis".to_owned()
- };
- egui::ComboBox::from_label(widget_label)
- .selected_text(field.as_str())
- .show_ui(ui, |ui| {
- for msg in fields.iter() {
- ui.selectable_value(field, (*msg).to_owned(), *msg);
- }
- });
- ui.color_edit_button_srgba(color);
- ui.add(egui::DragValue::new(width).speed(0.1).suffix(" pt"))
- .on_hover_text("Width of the line in points");
- ui.end_row();
- }
- });
-
- // if we have fields left, show the add button
- if fields.len().saturating_sub(plot_lines_len + 1) > 0
- && ui
- .button("Add Y Axis")
- .on_hover_text("Add another Y axis")
- .clicked()
- {
- let next_field = fields
- .iter()
- .find(|f| !plot_lines.iter().any(|l| l.field == **f))
- .unwrap();
- plot_lines.push(PlotLineSettings::new(next_field.to_string()));
- }
-
- // update fields and flag for active plot
- *plot_active = !plot_lines.is_empty();
-}
-
-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();
- }
-}
--
GitLab
From c93ffcc3a0abe7117e21d37d534677b74d169e92 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Mon, 9 Dec 2024 20:27:54 +0100
Subject: [PATCH 14/17] fixed some issues
---
Cargo.lock | 12 ++++++++++++
src/main.rs | 2 +-
src/ui/composable_view.rs | 16 ----------------
src/ui/panes/default.rs | 6 ++----
src/ui/panes/plot.rs | 11 ++++++++++-
5 files changed, 25 insertions(+), 22 deletions(-)
diff --git a/Cargo.lock b/Cargo.lock
index 32b9503..0ea4525 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2780,6 +2780,18 @@ dependencies = [
"spin",
]
+[[package]]
+name = "ron"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b91f7eff05f748767f183df4320a63d6936e9c6107d97c9e6bdd9784f4289c94"
+dependencies = [
+ "base64",
+ "bitflags 2.6.0",
+ "serde",
+ "serde_derive",
+]
+
[[package]]
name = "rustc-demangle"
version = "0.1.24"
diff --git a/src/main.rs b/src/main.rs
index b211995..b4b269e 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -47,7 +47,7 @@ fn main() -> Result<(), eframe::Error> {
MSG_MANAGER
.set(Mutex::new(MessageBroker::new(
NonZeroUsize::new(50).unwrap(),
- cc.egui_ctx.clone(),
+ ctx.egui_ctx.clone(),
)))
.expect("Unable to set MessageManager");
let app = ctx
diff --git a/src/ui/composable_view.rs b/src/ui/composable_view.rs
index d89d70f..7a74460 100644
--- a/src/ui/composable_view.rs
+++ b/src/ui/composable_view.rs
@@ -26,22 +26,6 @@ pub struct ComposableView {
sources_window: SourceWindow,
}
-// Implementing the default trait allows us to define a default configuration for our app
-impl Default for ComposableView {
- fn default() -> Self {
- let mut tiles = Tiles::default();
- let root = tiles.insert_pane(Pane::default());
- let panes_tree = egui_tiles::Tree::new("my_tree", root, tiles);
-
- Self {
- panes_tree,
- behavior: Default::default(),
- maximized_pane: None,
- sources_window: Default::default(),
- }
- }
-}
-
// An app must implement the `App` trait to define how the ui is built
impl eframe::App for ComposableView {
// The update function is called each time the UI needs repainting!
diff --git a/src/ui/panes/default.rs b/src/ui/panes/default.rs
index 42e6667..3cfd31c 100644
--- a/src/ui/panes/default.rs
+++ b/src/ui/panes/default.rs
@@ -7,10 +7,8 @@ use crate::ui::{
utils::{vertically_centered, SizingMemo},
};
-#[derive(Clone, Debug, Default, Serialize, Deserialize)]
+#[derive(Clone, Debug, Serialize, Deserialize)]
pub struct DefaultPane {
- occupied: f32,
- fixed: bool,
#[serde(skip)]
centering_memo: SizingMemo,
#[serde(skip)]
@@ -28,7 +26,7 @@ impl Default for DefaultPane {
impl PartialEq for DefaultPane {
fn eq(&self, other: &Self) -> bool {
- self.occupied == other.occupied && self.fixed == other.fixed
+ true
}
}
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
index 029981e..16b9033 100644
--- a/src/ui/panes/plot.rs
+++ b/src/ui/panes/plot.rs
@@ -20,6 +20,7 @@ pub struct Plot2DPane {
// UI settings
#[serde(skip)]
pub contains_pointer: bool,
+ #[serde(skip)]
settings_visible: bool,
line_settings: Vec<LineSettings>,
plot_active: bool,
@@ -38,6 +39,14 @@ impl Plot2DPane {
}
}
+impl PartialEq for Plot2DPane {
+ fn eq(&self, other: &Self) -> bool {
+ self.view.settings == other.view.settings
+ && self.line_settings == other.line_settings
+ && self.plot_active == other.plot_active
+ }
+}
+
impl PaneBehavior for Plot2DPane {
fn ui(&mut self, ui: &mut egui::Ui) -> PaneResponse {
let mut response = PaneResponse::default();
@@ -203,7 +212,7 @@ impl PartialEq for MsgSources {
}
}
-#[derive(Clone, Debug, Serialize, Deserialize)]
+#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
struct LineSettings {
field: String,
width: f32,
--
GitLab
From e9db281ea2ed2772eb6e14e8a47f173beab8c528 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Mon, 16 Dec 2024 20:39:53 +0100
Subject: [PATCH 15/17] [Mavlink] Fixed issue with layout saving of plot and
MessageView initial populate
---
src/mavlink/message_broker.rs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/mavlink/message_broker.rs b/src/mavlink/message_broker.rs
index 17b80ab..862cdc1 100644
--- a/src/mavlink/message_broker.rs
+++ b/src/mavlink/message_broker.rs
@@ -63,7 +63,7 @@ impl MessageBroker {
pub fn refresh_view<V: MessageView>(&mut self, view: &mut V) {
self.process_incoming_msgs();
- if !view.is_valid() {
+ if !view.is_valid() || !self.update_queues.contains_key(view.widget_id()) {
self.init_view(view);
} else {
self.update_view(view);
--
GitLab
From fda91a24a2102fc90b95dd0c11941cbaac2259b1 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Tue, 7 Jan 2025 11:28:17 +0100
Subject: [PATCH 16/17] [MessageBroker] Moved TimedMessage conversion up in
receiving pipeline
---
src/mavlink/message_broker.rs | 17 +++++++++--------
1 file changed, 9 insertions(+), 8 deletions(-)
diff --git a/src/mavlink/message_broker.rs b/src/mavlink/message_broker.rs
index 862cdc1..0a70820 100644
--- a/src/mavlink/message_broker.rs
+++ b/src/mavlink/message_broker.rs
@@ -15,7 +15,7 @@ use tracing::debug;
use crate::mavlink::byte_parser;
-use super::{MavMessage, Message, TimedMessage};
+use super::{Message, TimedMessage};
const UDP_BUFFER_SIZE: usize = 65527;
@@ -38,9 +38,9 @@ pub struct MessageBroker {
/// Flag to stop the listener
running_flag: Arc<AtomicBool>,
/// Listener message sender
- tx: RingSender<MavMessage>,
+ tx: RingSender<TimedMessage>,
/// Broker message receiver
- rx: RingReceiver<MavMessage>,
+ rx: RingReceiver<TimedMessage>,
/// Task handle for the listener
task: Option<JoinHandle<Result<()>>>,
/// Egui context
@@ -101,7 +101,8 @@ impl MessageBroker {
.await
.context("Failed to receive message")?;
for (_, mav_message) in byte_parser(&buf[..len]) {
- tx.send(mav_message).context("Failed to send message")?;
+ tx.send(TimedMessage::just_received(mav_message))
+ .context("Failed to send message")?;
ctx.request_repaint();
}
}
@@ -135,15 +136,15 @@ impl MessageBroker {
while let Ok(message) = self.rx.try_recv() {
// first update the update queues
for (_, (id, queue)) in self.update_queues.iter_mut() {
- if *id == message.message_id() {
- queue.push_back(TimedMessage::just_received(message.clone()));
+ if *id == message.message.message_id() {
+ queue.push_back(message.clone());
}
}
// then store the message in the messages map
self.messages
- .entry(message.message_id())
+ .entry(message.message.message_id())
.or_default()
- .push(TimedMessage::just_received(message));
+ .push(message);
}
}
--
GitLab
From 83f485b82e441152547982ef51f4e10e840d65d9 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Tue, 7 Jan 2025 21:29:36 +0100
Subject: [PATCH 17/17] [SourceWindow] Made the source window not collapsible
---
src/ui/composable_view.rs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/ui/composable_view.rs b/src/ui/composable_view.rs
index 7a74460..7b71f6b 100644
--- a/src/ui/composable_view.rs
+++ b/src/ui/composable_view.rs
@@ -264,7 +264,7 @@ impl SourceWindow {
egui::Window::new("Sources")
.id(ui.id())
.auto_sized()
- .collapsible(true)
+ .collapsible(false)
.movable(true)
.open(&mut window_is_open)
.show(ui.ctx(), |ui| {
--
GitLab