diff --git a/.vscode/settings.json b/.vscode/settings.json
index 301582c728fb174400df740c940f7813796cca70..1e4a5cb51a682ae308bb4bc66aa04bc5dded9a33 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -98,5 +98,8 @@
"editor.defaultFormatter": "chiehyu.vscode-astyle",
"[xml]": {
"editor.defaultFormatter": "redhat.vscode-xml"
- }
+ },
+ "cSpell.words": [
+ "Mavlink"
+ ]
}
\ No newline at end of file
diff --git a/Modules/Mavlink/mavlinkcommandadapter.h b/Modules/Mavlink/mavlinkcommandadapter.h
index 3de65f87cdf997b0f2b4b9124e267ced05b18f0a..9a7b269e16125797758e972e7fc9aebb43ba2eb0 100644
--- a/Modules/Mavlink/mavlinkcommandadapter.h
+++ b/Modules/Mavlink/mavlinkcommandadapter.h
@@ -1,25 +1,26 @@
#ifndef MAVLINKCOMMANDADAPTER_H
#define MAVLINKCOMMANDADAPTER_H
+#include <QMap>
#include <QObject>
#include <QSerialPort>
-#include <QMap>
-#include "mavlinkversionheader.h"
#include "Core/Message/modulemessage.h"
-#include "mavlinkwriter.h"
#include "Core/modulesmanager.h"
+#include "mavlinkversionheader.h"
+#include "mavlinkwriter.h"
class MavlinkModule;
/*
- * This class translate commands received from the UI in mavlink messages that can be sent.
+ * This class translate commands received from the UI in mavlink messages that
+ * can be sent.
*/
-class MavlinkCommandAdapter : public QObject {
+class MavlinkCommandAdapter : public QObject
+{
Q_OBJECT
- public:
-
+public:
MavlinkCommandAdapter();
void send(mavlink_message_t msg);
@@ -30,12 +31,11 @@ class MavlinkCommandAdapter : public QObject {
static const int MAV_CMP = 96;
static const int MAV_SYS = 171;
- private:
+private:
QSerialPort* serial = nullptr;
MavlinkWriter mavlinkWriter;
QMap<QString, int> msgNameIdMap;
-
};
-#endif // MAVLINKCOMMANDADAPTER_H
+#endif // MAVLINKCOMMANDADAPTER_H
diff --git a/Modules/Mavlink/mavlinkmodule.cpp b/Modules/Mavlink/mavlinkmodule.cpp
index 82746d17816a3cda92abbd0776451ed976039afd..9f229c79535e1c34f6a5f61952113629df0f4a21 100644
--- a/Modules/Mavlink/mavlinkmodule.cpp
+++ b/Modules/Mavlink/mavlinkmodule.cpp
@@ -1,100 +1,114 @@
#include "mavlinkmodule.h"
-#include "ui_mavlinkmodule.h"
-#include "Components/ContextMenuSeparator/contextmenuseparator.h"
+
#include <QDebug>
#include <QSerialPortInfo>
+
+#include "Components/ContextMenuSeparator/contextmenuseparator.h"
#include "Core/modulemessagesbroker.h"
#include "Modules/skywardhubstrings.h"
+#include "ui_mavlinkmodule.h"
-MavlinkModule::MavlinkModule(QWidget* parent) : DefaultModule(parent), ui(new Ui::MavlinkModule), mavlinkReader(this), serialPort(this) {
+MavlinkModule::MavlinkModule(QWidget* parent)
+ : DefaultModule(parent), ui(new Ui::MavlinkModule), mavlinkReader(this),
+ serialPort(this)
+{
ui->setupUi(this);
defaultContextMenuSetup();
initializeSerialPortView();
- // buildCentralGraphView();
- connectUiSlots();
+
+ ui->startStopButtonLayout->insertWidget(0, &startSerialStreamToggleButton);
+ connect(&startSerialStreamToggleButton, &ToggleButton::toggled, this,
+ &MavlinkModule::onStartStreamToggled);
+ connect(ui->openLogFolderButton, &QPushButton::clicked, this,
+ &MavlinkModule::onOpenLogFolderClick);
+
qRegisterMetaType<ModuleMessage>();
- connect(&mavlinkReader, &MavlinkReader::msgReceived, this, &MavlinkModule::onMsgReceived);
- connect(&linkQualityTimer, &QTimer::timeout, this, &MavlinkModule::onLinkQualityTimerTick);
+ connect(&mavlinkReader, &MavlinkReader::msgReceived, this,
+ &MavlinkModule::onMsgReceived);
+ connect(&linkQualityTimer, &QTimer::timeout, this,
+ &MavlinkModule::onLinkQualityTimerTick);
mavlinkCommandAdapter.setSerialPort(&serialPort);
- getCore()->getModuleMessagesBroker()->subscribe({SkywardHubStrings::commandsTopic + "/*"}, this, [this](const ModuleMessage & msg) {
- onCommandReceived(msg);
- });
+ getCore()->getModuleMessagesBroker()->subscribe(
+ {SkywardHubStrings::commandsTopic + "/*"}, this,
+ [this](const ModuleMessage& msg) { onCommandReceived(msg); });
}
-MavlinkModule::~MavlinkModule() {
+MavlinkModule::~MavlinkModule()
+{
mavlinkReader.stopReading();
delete ui;
onStopClicked();
}
-QWidget* MavlinkModule::toWidget() {
- return this;
-}
+QWidget* MavlinkModule::toWidget() { return this; }
-XmlObject MavlinkModule::toXmlObject() {
+XmlObject MavlinkModule::toXmlObject()
+{
XmlObject obj(getName(ModuleId::MAVLINK));
- obj.addAttribute("BaudRateIndex", QString::number(ui->comboBox_baudRate->currentIndex()));
+ obj.addAttribute("BaudRateIndex",
+ QString::number(ui->comboBoxBaudRate->currentIndex()));
return obj;
}
-void MavlinkModule::fromXmlObject(const XmlObject& xmlObject) {
- if(xmlObject.getObjectName() == getName(ModuleId::MAVLINK)) {
+void MavlinkModule::fromXmlObject(const XmlObject& xmlObject)
+{
+ if (xmlObject.getObjectName() == getName(ModuleId::MAVLINK))
+ {
bool ok;
int index = xmlObject.getAttribute("BaudRateIndex").toInt(&ok);
- if(ok) {
- ui->comboBox_baudRate->setCurrentIndex(index);
+ if (ok)
+ {
+ ui->comboBoxBaudRate->setCurrentIndex(index);
}
}
}
-void MavlinkModule::closePort() {
- if(serialPort.isOpen()) {
+void MavlinkModule::closePort()
+{
+ if (serialPort.isOpen())
+ {
serialPort.close();
}
}
+void MavlinkModule::initializeSerialPortView()
+{
+ // Fill the baud rate combo box
+ ui->comboBoxBaudRate->addItem("115200", QSerialPort::Baud115200);
+ ui->comboBoxBaudRate->addItem("19200", QSerialPort::Baud19200);
+ ui->comboBoxBaudRate->addItem("9600", QSerialPort::Baud9600);
-void MavlinkModule::initializeSerialPortView() {
- //fill the baud rate combo box
- QString baudPrefix = "BaudRate: ";
- ui->comboBox_baudRate->addItem(baudPrefix + "115200", QSerialPort::Baud115200);
- // ui->comboBox_baudRate->addItem(baudPrefix + "57600", QSerialPort::Baud57600);
- // ui->comboBox_baudRate->addItem(baudPrefix + "38400", QSerialPort::Baud38400);
- ui->comboBox_baudRate->addItem(baudPrefix + "19200", QSerialPort::Baud19200);
- ui->comboBox_baudRate->addItem(baudPrefix + "9600", QSerialPort::Baud9600);
- // ui->comboBox_baudRate->addItem(baudPrefix + "4800", QSerialPort::Baud4800);
- // ui->comboBox_baudRate->addItem(baudPrefix + "2400", QSerialPort::Baud2400);
- // ui->comboBox_baudRate->addItem(baudPrefix + "1200", QSerialPort::Baud1200);
-
-
- bool first = true;
- //Check available port
+ // Check available port
const auto serialPortInfos = QSerialPortInfo::availablePorts();
- for (const QSerialPortInfo& serialPortInfo : serialPortInfos) {
- // QString serialNumber = serialPortInfo.serialNumber();
- // QVariant data = (!serialNumber.isEmpty() ? serialNumber : "N/A");
- QVariant data(serialPortInfo.portName());
- ui->comboBox_serialPort->addItem(serialPortInfo.portName(), data);
-
- if(first) {
- ui->lineEdit_serialPort->setText(serialPortInfo.portName());
- first = false;
- }
+
+ for (auto serialPortInfo = serialPortInfos.rbegin();
+ serialPortInfo != serialPortInfos.rend(); serialPortInfo++)
+ {
+ QVariant portName(serialPortInfo->portName());
+ ui->comboBoxSerialPort->addItem(serialPortInfo->portName(), portName);
}
-}
+ ui->comboBoxSerialPort->setCurrentIndex(0);
+}
-bool MavlinkModule::startReadingOnSerialPort() {
- QString portName = ui->lineEdit_serialPort->text().trimmed();
- bool ok;
- int baudRate = ui->comboBox_baudRate->currentData().toInt(&ok);
+bool MavlinkModule::startReadingOnSerialPort()
+{
+ QString portName = ui->comboBoxSerialPort->currentData().toString();
+ bool baudrateOk;
+ int baudRate = ui->comboBoxBaudRate->currentData().toInt(&baudrateOk);
- if(!ok || portName == "" || serialPort.isOpen())
+ // Check if the parameters are ok
+ if (!baudrateOk)
return false;
+ // The serial port should not be already open
+ if (serialPort.isOpen())
+ return true;
+
+ // Open the serial port
QSerialPortInfo port(portName);
serialPort.setPort(port);
serialPort.setBaudRate(baudRate);
@@ -104,102 +118,103 @@ bool MavlinkModule::startReadingOnSerialPort() {
return serialPort.open(QIODevice::ReadWrite);
}
-void MavlinkModule::onStartClicked() {
- if(startReadingOnSerialPort()) {
- onLinkQualityIndicatorClicked(ui->linkQuality_groupBox->isChecked());
+void MavlinkModule::onStartClicked()
+{
+ if (startReadingOnSerialPort())
+ {
+ linkQualityTimer.start(linkQualityPeriod);
+
mavlinkReader.setSerialPort(&serialPort);
+ mavlinkCommandAdapter.setSerialPort(&serialPort);
- if(ui->logEnabled_checkBox->isChecked()) {
+ // TODO: Allow the checkbox to start and stop the logging
+ if (ui->logEnabledCheckBox->isChecked())
mavlinkReader.openLogFile();
- }
mavlinkReader.startReading();
- mavlinkCommandAdapter.setSerialPort(&serialPort);
- } else {
- error(tr("Mavlink"), "Unable to open selected serial port.");
+ }
+ else
+ {
+ error("Mavlink", "Unable to open selected serial port.");
startSerialStreamToggleButton.setState(false);
}
}
-void MavlinkModule::onStopClicked() {
+void MavlinkModule::onStopClicked()
+{
+ linkQualityTimer.stop();
mavlinkReader.stopReading();
closePort();
}
-void MavlinkModule::onMsgReceived(const ModuleMessage& msg) {
+void MavlinkModule::onMsgReceived(const ModuleMessage& msg)
+{
msgArrived++;
getCore()->getModuleMessagesBroker()->publish(msg);
}
-void MavlinkModule::onStartStreamToggled(bool state) {
- if(state) {
+void MavlinkModule::onStartStreamToggled(bool state)
+{
+ if (state)
onStartClicked();
- } else {
+ else
onStopClicked();
- }
-}
-
-void MavlinkModule::onLinkQualityIndicatorClicked(bool checked) {
- if(checked && !linkQualityTimer.isActive()) {
- linkQualityTimer.start(linkQualityPeriod);
- } else if(!checked && linkQualityTimer.isActive()) {
- linkQualityTimer.stop();
- }
}
-void MavlinkModule::onLinkQualityTimerTick() {
+void MavlinkModule::onLinkQualityTimerTick()
+{
float ratio = (float)msgArrived / linkQualityPeriod * 1000.0;
updateLinkSignalIndicator(msgArrived, ratio);
msgArrived = 0;
}
-void MavlinkModule::updateLinkSignalIndicator(int msgArrived, float ratio) {
- ui->msgPerSecond_label->setText(QString::number(ratio));
+void MavlinkModule::updateLinkSignalIndicator(int msgArrived, float ratio)
+{
+ ui->rateText->setText(QString::number(ratio));
ModuleMessage linkQuality(SkywardHubStrings::mavlink_quality_link_topic);
linkQuality.setField("ReceivedMsgNumber", {QString::number(msgArrived)});
linkQuality.setField("ReceivedRatio", {QString::number(ratio)});
getCore()->getModuleMessagesBroker()->publish(linkQuality);
}
-void MavlinkModule::onOpenLogFolderClick() {
+void MavlinkModule::onOpenLogFolderClick()
+{
QDir dir(SkywardHubStrings::defaultLogsFolder);
- if (dir.exists()) {
- QDesktopServices::openUrl( QUrl::fromLocalFile(SkywardHubStrings::defaultLogsFolder) );
- } else {
- warning(tr("Mavlink"), tr("The log folder does not exist yet. It will be created when opening the serial port."));
+ if (dir.exists())
+ {
+ QDesktopServices::openUrl(
+ QUrl::fromLocalFile(SkywardHubStrings::defaultLogsFolder));
+ }
+ else
+ {
+ warning(tr("Mavlink"), tr("The log folder does not exist yet. It will "
+ "be created when opening the serial port."));
}
}
-void MavlinkModule::connectUiSlots() {
- ui->startStop_button_layout->insertWidget(0, &startSerialStreamToggleButton);
- connect(&startSerialStreamToggleButton, &ToggleButton::toggled, this, &MavlinkModule::onStartStreamToggled);
-
- // connect(ui->button_start,&QPushButton::clicked,this, &MavlinkModule::onStartClicked);
- // connect(ui->button_stop,&QPushButton::clicked,this, &MavlinkModule::onStopClicked);
- // connect(ui->spinBox_maxPackets,SIGNAL(valueChanged(int)),this,SLOT(onMaxPackedValueChanged(int)));
- connect(ui->openLogFolder_button, &QPushButton::clicked, this, &MavlinkModule::onOpenLogFolderClick);
- connect(ui->comboBox_serialPort, SIGNAL(currentIndexChanged(int)), this, SLOT(onSerialPortIndexChanged(int)));
- connect(ui->linkQuality_groupBox, &QGroupBox::clicked, this, &MavlinkModule::onLinkQualityIndicatorClicked);
-}
-
-void MavlinkModule::onSerialPortIndexChanged(int index) {
- QVariant data = ui->comboBox_serialPort->itemData(index);
- ui->lineEdit_serialPort->setText(data.toString());
-}
-
-void MavlinkModule::onCommandReceived(const ModuleMessage& msg) {
+void MavlinkModule::onCommandReceived(const ModuleMessage& msg)
+{
mavlink_message_t encoded_mvl_msg;
- if(!mavlinkCommandAdapter.encodeCommand(msg, encoded_mvl_msg)) {
- error(tr("Mavlink"), tr("Cannot encode command into a valid mavlink message."));
- } else if(!serialPort.isOpen()) {
+ if (!mavlinkCommandAdapter.encodeCommand(msg, encoded_mvl_msg))
+ {
+ error(tr("Mavlink"),
+ tr("Cannot encode command into a valid mavlink message."));
+ }
+ else if (!serialPort.isOpen())
+ {
error(tr("Mavlink"), "Cannot send message: serial port is closed.");
- } else {
+ }
+ else
+ {
mavlinkCommandAdapter.send(encoded_mvl_msg);
ModuleMessage confirmationMsg(SkywardHubStrings::logCommandsTopic);
- confirmationMsg.setField("name", msg.getTopic().toString().replace(SkywardHubStrings::commandsTopic + "/", ""));
- confirmationMsg.setField("message_id", (uint64_t) encoded_mvl_msg.msgid);
- confirmationMsg.setField("sequence_number", (uint64_t) encoded_mvl_msg.seq);
+ confirmationMsg.setField(
+ "name", msg.getTopic().toString().replace(
+ SkywardHubStrings::commandsTopic + "/", ""));
+ confirmationMsg.setField("message_id", (uint64_t)encoded_mvl_msg.msgid);
+ confirmationMsg.setField("sequence_number",
+ (uint64_t)encoded_mvl_msg.seq);
getCore()->getModuleMessagesBroker()->publish(confirmationMsg);
}
}
diff --git a/Modules/Mavlink/mavlinkmodule.h b/Modules/Mavlink/mavlinkmodule.h
index a37926e0675e6a94807cbedd5048d96df8182d75..ed1931e66593aef1bd729ed6c1b9a4d6bdfae1ab 100644
--- a/Modules/Mavlink/mavlinkmodule.h
+++ b/Modules/Mavlink/mavlinkmodule.h
@@ -16,7 +16,7 @@ Q_DECLARE_METATYPE(ModuleMessage);
namespace Ui
{
- class MavlinkModule;
+class MavlinkModule;
}
class MavlinkModule : public DefaultModule
@@ -37,11 +37,9 @@ public slots:
void onStartClicked();
void onStopClicked();
void onMsgReceived(const ModuleMessage &msg);
- void onLinkQualityIndicatorClicked(bool checked);
void onLinkQualityTimerTick();
protected:
- void connectUiSlots();
void initializeSerialPortView();
mavlink_message_t parseMavlinkMsg(char *buffer, int readCount);
@@ -53,7 +51,6 @@ protected:
void onOpenLogFolderClick();
private slots:
- void onSerialPortIndexChanged(int index);
bool startReadingOnSerialPort();
void onStartStreamToggled(bool state);
@@ -61,15 +58,14 @@ private:
Ui::MavlinkModule *ui;
ToggleButton startSerialStreamToggleButton;
- QString dateFormat = "HH:mm:ss\n(zzz)";
MavlinkReader mavlinkReader;
MavlinkCommandAdapter mavlinkCommandAdapter;
QSerialPort serialPort;
QTimer linkQualityTimer;
- int linkQualityPeriod = 2000; // [ms]
- int msgArrived = 0;
+ int linkQualityPeriod = 2000; // [ms]
+ int msgArrived = 0;
bool portOpen;
};
-#endif // MAVLINKMODULE_H
+#endif // MAVLINKMODULE_H
diff --git a/Modules/Mavlink/mavlinkmodule.ui b/Modules/Mavlink/mavlinkmodule.ui
index acaf86a5abee6f296060a57dc7d0ec56651730bf..c2aeaa9efb8ecde91c19e53bc0eebd4eb404712f 100644
--- a/Modules/Mavlink/mavlinkmodule.ui
+++ b/Modules/Mavlink/mavlinkmodule.ui
@@ -6,208 +6,123 @@
<rect>
<x>0</x>
<y>0</y>
- <width>545</width>
- <height>256</height>
+ <width>596</width>
+ <height>91</height>
</rect>
</property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
<property name="windowTitle">
<string>Form</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout" stretch="0,1,1">
- <item>
- <widget class="QLabel" name="module_title">
- <property name="text">
- <string>Mavlink</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QGroupBox" name="linkQuality_groupBox">
- <property name="title">
- <string>Link quality</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- <property name="flat">
- <bool>true</bool>
- </property>
- <property name="checkable">
- <bool>true</bool>
- </property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="1" column="3">
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>Msg Received/s</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="label_5">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Maximum Packets/second</string>
- </property>
- </widget>
- </item>
- <item row="1" column="4">
- <widget class="QLabel" name="msgPerSecond_label">
- <property name="text">
- <string>msgpersecond value</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QSpinBox" name="spinBox_maxPackets">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimum">
- <number>1</number>
- </property>
- <property name="maximum">
- <number>99999</number>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </widget>
- </item>
+ <layout class="QVBoxLayout" name="verticalLayout" stretch="0">
<item>
- <widget class="QGroupBox" name="groupBox_2">
- <property name="title">
- <string>Setup</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- <layout class="QGridLayout" name="gridLayout">
- <item row="1" column="0">
- <spacer name="horizontalSpacer_3">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="1" column="7">
- <spacer name="horizontalSpacer_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="1" column="2">
- <widget class="QLineEdit" name="lineEdit_serialPort">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Available Port</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>Selected Port</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="5">
- <layout class="QHBoxLayout" name="startStop_button_layout"/>
- </item>
- <item row="0" column="3">
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Baud Rate</string>
- </property>
- </widget>
- </item>
- <item row="0" column="5">
- <widget class="QLabel" name="label_6">
- <property name="text">
- <string>Start/Stop</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="6">
- <widget class="QPushButton" name="openLogFolder_button">
- <property name="text">
- <string>Log Folder</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QComboBox" name="comboBox_serialPort"/>
- </item>
- <item row="1" column="3">
- <widget class="QComboBox" name="comboBox_baudRate"/>
- </item>
- <item row="0" column="6">
- <widget class="QCheckBox" name="logEnabled_checkBox">
- <property name="text">
- <string>Enable Log</string>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="1" column="0">
+ <widget class="QComboBox" name="comboBoxSerialPort"/>
+ </item>
+ <item row="0" column="3">
+ <widget class="QCheckBox" name="logEnabledCheckBox">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Enable Log</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="3">
+ <widget class="QPushButton" name="openLogFolderButton">
+ <property name="text">
+ <string>Log Folder</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="startStopLabel">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Start/Stop</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QComboBox" name="comboBoxBaudRate"/>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="availablePortsLabel">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Available ports</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="baudrateLabel">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Baudrate</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <layout class="QHBoxLayout" name="startStopButtonLayout"/>
+ </item>
+ <item row="0" column="4">
+ <widget class="QLabel" name="rateLabel">
+ <property name="text">
+ <string>Rate</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="4">
+ <widget class="QLabel" name="rateText">
+ <property name="text">
+ <string/>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
</item>
</layout>
</widget>
diff --git a/Modules/Mavlink/mavlinkreader.cpp b/Modules/Mavlink/mavlinkreader.cpp
index d1790d5575fee48ca3d96cb2ea920ab1613fab5f..990432f613bfc407c38315969c855b4fc7174c9b 100644
--- a/Modules/Mavlink/mavlinkreader.cpp
+++ b/Modules/Mavlink/mavlinkreader.cpp
@@ -1,109 +1,134 @@
#include "mavlinkreader.h"
-#include <QFile>
-#include <QTextStream>
#include <QDebug>
#include <QDir>
+#include <QFile>
+#include <QTextStream>
#include "Modules/skywardhubstrings.h"
#include "mavlinkcommandadapter.h"
#include "mavlinkmodule.h"
-MavlinkReader::MavlinkReader(MavlinkModule* parent) : module(parent) {
-}
+MavlinkReader::MavlinkReader(MavlinkModule* parent) : module(parent) {}
-MavlinkReader::~MavlinkReader() {
- closeLog();
-}
+MavlinkReader::~MavlinkReader() { closeLog(); }
-void MavlinkReader::startReading() {
- if(serialPort) {
- QObject::connect(serialPort, &QSerialPort::readyRead, this, &MavlinkReader::onReadyRead);
+void MavlinkReader::startReading()
+{
+ if (serialPort)
+ {
+ QObject::connect(serialPort, &QSerialPort::readyRead, this,
+ &MavlinkReader::onReadyRead);
}
}
-void MavlinkReader::stopReading() {
- if(serialPort) {
- QObject::disconnect(serialPort, &QSerialPort::readyRead, this, &MavlinkReader::onReadyRead);
+void MavlinkReader::stopReading()
+{
+ if (serialPort)
+ {
+ QObject::disconnect(serialPort, &QSerialPort::readyRead, this,
+ &MavlinkReader::onReadyRead);
}
}
-const mavlink_message_info_t& MavlinkReader::getMessageFormat(uint8_t messageId) {
+const mavlink_message_info_t& MavlinkReader::getMessageFormat(uint8_t messageId)
+{
static mavlink_message_info_t infos[256] = MAVLINK_MESSAGE_INFO;
return infos[messageId];
}
-void MavlinkReader::onReadyRead() {
- if(serialPort == nullptr) {
+void MavlinkReader::onReadyRead()
+{
+ if (serialPort == nullptr)
+ {
qDebug() << "Error: serialPort is nullptr";
return;
}
auto bytes = serialPort->readAll();
- for(auto it = bytes.begin(); it != bytes.end(); ++it) {
- if(mavlink_parse_char(MAVLINK_COMM_0, *it, &decodedMessage, &mavlinkStatus)) {
+ for (auto it = bytes.begin(); it != bytes.end(); ++it)
+ {
+ if (mavlink_parse_char(MAVLINK_COMM_0, *it, &decodedMessage,
+ &mavlinkStatus))
+ {
emit msgReceived(generateModuleMessage(decodedMessage));
}
}
- if(logFile.isOpen()) {
+ if (logFile.isOpen())
+ {
logFile.write(bytes.constData(), sizeof(char) * bytes.length());
}
}
-void MavlinkReader::setSerialPort(QSerialPort* port) {
- serialPort = port;
-}
+void MavlinkReader::setSerialPort(QSerialPort* port) { serialPort = port; }
-ModuleMessage MavlinkReader::generateModuleMessage(const mavlink_message_t& msg) {
+ModuleMessage MavlinkReader::generateModuleMessage(const mavlink_message_t& msg)
+{
const mavlink_message_info_t& info = getMessageFormat(msg.msgid);
QMap<QString, MessageField> fields;
- for (unsigned i = 0; i < info.num_fields; i++) {
+ for (unsigned i = 0; i < info.num_fields; i++)
+ {
fields[QString(info.fields[i].name)] = decodeField(msg, info.fields[i]);
}
ModuleMessage output;
- output.setTopic(SkywardHubStrings::mavlink_received_msg_topic + "/" + info.name);
+ output.setTopic(SkywardHubStrings::mavlink_received_msg_topic + "/" +
+ info.name);
output.setFields(std::move(fields));
return output;
}
-void MavlinkReader::closeLog() {
- if(logFile.isOpen())
+void MavlinkReader::closeLog()
+{
+ if (logFile.isOpen())
logFile.close();
}
-void MavlinkReader::openLogFile() {
+void MavlinkReader::openLogFile()
+{
closeLog();
setLogFilePath();
logFile.setFileName(logFilePath);
- if (logFile.open(QIODevice::WriteOnly)) {
- if(module != nullptr) {
- module->info(tr("Mavlink"), tr("Opened file ") + logFilePath + tr(" for logging."));
+ if (logFile.open(QIODevice::WriteOnly))
+ {
+ if (module != nullptr)
+ {
+ module->info(tr("Mavlink"), tr("Opened file ") + logFilePath +
+ tr(" for logging."));
}
QTextStream out(&logFile);
- out << "Log started " << QDateTime::currentDateTime().toString() << "\n";
- } else {
- if(module != nullptr) {
- module->error(tr("Mavlink"), tr("Error, cannot open file ") + logFilePath);
+ out << "Log started " << QDateTime::currentDateTime().toString()
+ << "\n";
+ }
+ else
+ {
+ if (module != nullptr)
+ {
+ module->error(tr("Mavlink"),
+ tr("Error, cannot open file ") + logFilePath);
}
}
}
-void MavlinkReader::setLogFilePath() {
+void MavlinkReader::setLogFilePath()
+{
QDir dir(SkywardHubStrings::defaultLogsFolder);
if (!dir.exists())
dir.mkpath(".");
QString extension = ".dat";
- QString currentFile = QDateTime::currentDateTime().toString("yyyyMMdd_hh.mm.ss");
- QString proposedFilePath = SkywardHubStrings::defaultLogsFolder + "/" + currentFile;
+ QString currentFile =
+ QDateTime::currentDateTime().toString("yyyyMMdd_hh.mm.ss");
+ QString proposedFilePath =
+ SkywardHubStrings::defaultLogsFolder + "/" + currentFile;
QString fileNumber = "";
- int i = 1;
- while(QFile::exists(proposedFilePath + fileNumber + extension) && i < 200) {
+ int i = 1;
+ while (QFile::exists(proposedFilePath + fileNumber + extension) && i < 200)
+ {
i++;
fileNumber = " (" + QString::number(i) + ")";
}
@@ -111,25 +136,35 @@ void MavlinkReader::setLogFilePath() {
logFilePath = proposedFilePath + fileNumber + extension;
}
-MessageField MavlinkReader::decodeField(const mavlink_message_t& msg, const mavlink_field_info_t& field) {
- if (field.array_length == 0) {
+MessageField MavlinkReader::decodeField(const mavlink_message_t& msg,
+ const mavlink_field_info_t& field)
+{
+ if (field.array_length == 0)
+ {
return decodeArrayElement(msg, field, 0);
- } else {
- if (field.type == MAVLINK_TYPE_CHAR) {
+ }
+ else
+ {
+ if (field.type == MAVLINK_TYPE_CHAR)
+ {
QString str;
- for(unsigned i = 0; i < field.array_length; i++) {
+ for (unsigned i = 0; i < field.array_length; i++)
+ {
str.append(_MAV_RETURN_char(&msg, field.wire_offset + i));
- if(_MAV_RETURN_char(&msg, field.wire_offset + i) == '\0')
+ if (_MAV_RETURN_char(&msg, field.wire_offset + i) == '\0')
break;
}
return MessageField(str);
- } else {
+ }
+ else
+ {
QList<MessageField> array;
array.reserve(field.array_length);
- for (unsigned i = 0; i < field.array_length; i++) {
+ for (unsigned i = 0; i < field.array_length; i++)
+ {
array.append(decodeArrayElement(msg, field, i));
}
return MessageField(std::move(array));
@@ -137,42 +172,68 @@ MessageField MavlinkReader::decodeField(const mavlink_message_t& msg, const mavl
}
}
-MessageField MavlinkReader::decodeArrayElement(const mavlink_message_t& msg, const mavlink_field_info_t& field, int idx) {
- switch (field.type) {
- case MAVLINK_TYPE_CHAR: {
- return MessageField(_MAV_RETURN_char(&msg, field.wire_offset + idx * 1));
- }
- case MAVLINK_TYPE_UINT8_T: {
- return MessageField(static_cast<uint64_t>(_MAV_RETURN_uint8_t(&msg, field.wire_offset + idx * 1)));
- }
- case MAVLINK_TYPE_INT8_T: {
- return MessageField(static_cast<int64_t>(_MAV_RETURN_int8_t(&msg, field.wire_offset + idx * 1)));
- }
- case MAVLINK_TYPE_UINT16_T: {
- return MessageField(static_cast<uint64_t>(_MAV_RETURN_uint16_t(&msg, field.wire_offset + idx * 2)));
- }
- case MAVLINK_TYPE_INT16_T: {
- return MessageField(static_cast<int64_t>(_MAV_RETURN_int16_t(&msg, field.wire_offset + idx * 2)));
- }
- case MAVLINK_TYPE_UINT32_T: {
- return MessageField(static_cast<uint64_t>(_MAV_RETURN_uint32_t(&msg, field.wire_offset + idx * 4)));
- }
- case MAVLINK_TYPE_INT32_T: {
- return MessageField(static_cast<int64_t>(_MAV_RETURN_int32_t(&msg, field.wire_offset + idx * 4)));
- }
- case MAVLINK_TYPE_UINT64_T: {
- return MessageField(static_cast<uint64_t>(_MAV_RETURN_uint64_t(&msg, field.wire_offset + idx * 8)));
- }
- case MAVLINK_TYPE_INT64_T: {
- return MessageField(static_cast<int64_t>(_MAV_RETURN_int64_t(&msg, field.wire_offset + idx * 8)));
- }
- case MAVLINK_TYPE_FLOAT: {
- return MessageField(static_cast<double>(_MAV_RETURN_float(&msg, field.wire_offset + idx * 4)));
- }
- case MAVLINK_TYPE_DOUBLE: {
- return MessageField(static_cast<double>(_MAV_RETURN_double(&msg, field.wire_offset + idx * 8)));
- }
- default: {
+MessageField MavlinkReader::decodeArrayElement(
+ const mavlink_message_t& msg, const mavlink_field_info_t& field, int idx)
+{
+ switch (field.type)
+ {
+ case MAVLINK_TYPE_CHAR:
+ {
+ return MessageField(
+ _MAV_RETURN_char(&msg, field.wire_offset + idx * 1));
+ }
+ case MAVLINK_TYPE_UINT8_T:
+ {
+ return MessageField(static_cast<uint64_t>(
+ _MAV_RETURN_uint8_t(&msg, field.wire_offset + idx * 1)));
+ }
+ case MAVLINK_TYPE_INT8_T:
+ {
+ return MessageField(static_cast<int64_t>(
+ _MAV_RETURN_int8_t(&msg, field.wire_offset + idx * 1)));
+ }
+ case MAVLINK_TYPE_UINT16_T:
+ {
+ return MessageField(static_cast<uint64_t>(
+ _MAV_RETURN_uint16_t(&msg, field.wire_offset + idx * 2)));
+ }
+ case MAVLINK_TYPE_INT16_T:
+ {
+ return MessageField(static_cast<int64_t>(
+ _MAV_RETURN_int16_t(&msg, field.wire_offset + idx * 2)));
+ }
+ case MAVLINK_TYPE_UINT32_T:
+ {
+ return MessageField(static_cast<uint64_t>(
+ _MAV_RETURN_uint32_t(&msg, field.wire_offset + idx * 4)));
+ }
+ case MAVLINK_TYPE_INT32_T:
+ {
+ return MessageField(static_cast<int64_t>(
+ _MAV_RETURN_int32_t(&msg, field.wire_offset + idx * 4)));
+ }
+ case MAVLINK_TYPE_UINT64_T:
+ {
+ return MessageField(static_cast<uint64_t>(
+ _MAV_RETURN_uint64_t(&msg, field.wire_offset + idx * 8)));
+ }
+ case MAVLINK_TYPE_INT64_T:
+ {
+ return MessageField(static_cast<int64_t>(
+ _MAV_RETURN_int64_t(&msg, field.wire_offset + idx * 8)));
+ }
+ case MAVLINK_TYPE_FLOAT:
+ {
+ return MessageField(static_cast<double>(
+ _MAV_RETURN_float(&msg, field.wire_offset + idx * 4)));
+ }
+ case MAVLINK_TYPE_DOUBLE:
+ {
+ return MessageField(static_cast<double>(
+ _MAV_RETURN_double(&msg, field.wire_offset + idx * 8)));
+ }
+ default:
+ {
// Unsupported: return EMPTY
return MessageField();
}